Quote:
Originally Posted by Tom Line
A 18 foot/second robot moving full speed will move 21.6 inches in 100 ms. Inconsistent timing on communications will make that vary, since you'll be waiting for a video stream from FMS, working with that, and then sending the result to the robot.
The height, viewing angle, and lens distortion of the camera will also bring some variability into your measurements. It is something fun to kick around though.
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The sheer speed of some robots over the years could be a problem with real time tracking. With a camera like the play station eye, you can get very fast frame rates, upwards to 120 apparently, and background subtraction isn't that computationally intensive. A student on 1706 optimized our a star path planning to solve a 500x500 grid on .03 seconds. Then there is sending the data over the network and the robot beginning to act on it. That's probably 10ms. The whole process could be done in msybe 20, 30ms if optimized. And if you add where the robot will be in half a second if it continues it's velocity into path planning, that could combat the time to do all this. Of course, this all goes down the drain when a robot decides to shove you up a wall for 3 seconds.