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Unread 14-01-2004, 13:13
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Re: What to do with autonomous

Quote:
Originally Posted by cbolin
We are experimenting with 4 Banner sensors arranged in a diamond pattern.
Chuck,

I'm curious about the diamond pattern. What is the reasoning behind this specific pattern? Also, how far apart are you placing them? And where? Are they at the edge of the 'bot? Centered in the front, rear, left & right of the 'bot? Or closer together? In the center of the 'bot? Toward the front?

Last year we had a linear array of 6 or 7 sensors across the front of our 'bot. It worked. (We used a heuristic assumption that we would be turning either to the right or the left, and then used the sensor input to keep us on the line.) But we decided it wasn't fast enough, and we opted to instead do a blind swoop out and back up the ramp.
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Unread 14-01-2004, 13:34
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Re: What to do with autonomous

Quote:
Originally Posted by Dave Flowerday
BTW, we were not computing our trig in the conventional way. We employed many optimizations on these calculations that I would consider standard for this situation, and the result was that converting our heading and distance to an (x,y) coordinate took only a few clock cycles.
Dave,

Did you mean non-standard? If you indeed meant standard, would you mind pointing us to some references? (We wouldn't mind, though, if you decided you wanted to share your non-standard methods too. )
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  #33   Spotlight this post!  
Unread 14-01-2004, 13:47
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Re: What to do with autonomous

is there anyone that is using multiple autonomous modes? if so i would like to talk about that.....my team is doing that and im just curious
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  #34   Spotlight this post!  
Unread 14-01-2004, 14:50
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Re: What to do with autonomous

Greg,
Looking down upon the diamond pattern, the top sensor is labeled North, right sensor is East...etc. N-S sensors are 6" apart. E-W sensors are 4 1/2". The N, E and W sensors are 2 1/4" from the diamond center. However, the S sensor is 3 3/4". The system is about 4" high.

The mechanics say we cannot have the space in the dead center of the robot drive system and that are line-tracking system can be placed slightly forward of center. So, we consider this S sensor to represent center of robot (close as possible).

The distances and angles formed by the internal angles are subject to change but this is a starting point.

Assuming the sensor data can be sampled fast enough in lieu of the robots rapid movement, it is possible by examining the on-off state of the four sensors several things....assuming you understand the starting position and orientation of the robot.

Our team (4 students and myself) will discuss this configuration in more detail and compare its results to other sensor layouts. We need only a few data points along this path to follow it (parallel it) successfully...of course we need to do this in less time than 15 seconds. :-)

Regards,
Chuck
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Unread 14-01-2004, 16:08
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Re: What to do with autonomous

Quote:
Originally Posted by Jon Reese
is there anyone that is using multiple autonomous modes? if so i would like to talk about that.....my team is doing that and im just curious
We're not to that point yet, but judging by last year, (when we had around a dozen) we will have multiple auto modes.
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  #36   Spotlight this post!  
Unread 14-01-2004, 16:15
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Re: What to do with autonomous

Quote:
Originally Posted by gwross
Dave,

Did you mean non-standard? If you indeed meant standard, would you mind pointing us to some references? (We wouldn't mind, though, if you decided you wanted to share your non-standard methods too. )
I can't speak for the optimization in the custom circuit, because I never saw the code, but in the RC we used a simple lookup table. Doesn't get any faster than that.
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Unread 15-01-2004, 00:02
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Re: What to do with autonomous

Quote:
Originally Posted by Dave Flowerday
[cut]
As for the 6 inch accuracy, that comes from somewhere else. While we know our position with much better accuracy than that, we would consider to have hit a waypoint if we were within a 6" square around it. This is necessary to prevent the robot from reaching a waypoint and then overshooting it due to coasting, and then having it try to keep getting closer and closer to it. I imagine you'll find that you need a similar concept as well.
I was thinking about this for our design as well. How did you reach the 6" rule? Arbitrary? I was looking at 2.5 times our accuracy. 2 times to account for sampling and .5 as a slush.

It's not a big deal, but I hate to not have a reason. :-)

Thanks.
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Unread 15-01-2004, 10:10
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Re: What to do with autonomous

Quote:
Originally Posted by IrisLab
I was thinking about this for our design as well. How did you reach the 6" rule? Arbitrary? I was looking at 2.5 times our accuracy. 2 times to account for sampling and .5 as a slush.

It's not a big deal, but I hate to not have a reason. :-)
Because we tried it and it worked the first time Seriously, we chose 6" because we figured that it got us "close enough" to our point. Last year's game didn't require much precision, just a quick turn and dash up the ramp. If we were a couple of inches off it didn't really matter much. We wanted to run full speed the whole time and not worry about going back to a waypoint if we overshot it. We didn't do much testing, we just picked a box that was big enough to work. We made this number configurable per waypoint so changing it just required updating the range in our waypoint list.
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Unread 22-01-2004, 10:02
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Re: What to do with autonomous

great minds think alike I suppose...our team is running with the same idea in mind as well...
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Unread 22-01-2004, 13:58
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Re: What to do with autonomous

We're (I'm) thinking about it. You know, If you dead-reckon (Using nothing or just wheel encoders), your going to want to write 2 procedures, a left and a right, not to mention the dozens of other autonomous mode strategies one can write.
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Unread 22-01-2004, 20:54
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Re: What to do with autonomous

Well, the first part of our autonomous mode entails using Dead Reckoning to reach our 24' arm halfway across the field and...::censored::.. Am I kidding?
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Unread 22-01-2004, 21:43
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Re: What to do with autonomous

Quote:
Originally Posted by Rickertsen2
What are your plans for autonomous this year? Will you choose to track the IR beacon? If so, how do you plan on finding your ball without knocking over the opponent's? The beacon is in betwen the two?

Line tracking?

Dead reckoning based on timing?

Dead reckoning based on encoders?

Dead reckoning based on gyros and accelerometers?

Something else entirely?
If you want to vote on a Poll, see a thread/poll named "What are you doing in autonomous mode?" created by me.
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Unread 26-01-2004, 18:38
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Re: What to do with autonomous

I've been living in a hole (my bedroom studing for exams) for the past week or so. First off, a question about the uber-accurate Wildstang Positioning System (WSP perhaps?):

1. How were you able to account for wheel slipping? This would occur when your robot would be pushed (while wheels were locked) or sliding down the ramp (for example). I'd immagine that such 'small' inaccuracies could addup to more then +/- 1-inch by the end of the match.

Back to our autonomous mode. I'm thinking (I'm the only programmer on our team) of using a IR seeking/dead reckoning hybrid. If at any point the beacon is blocked, dead (sorry, read 'ded.') reckoning would kickin. It would be adaptive, so the robot would continue in that direction until the beacon can be seen again. The dead/ded. reckoning system would rely on a counter to determine how much longer to go forward, not to overshoot the target.

I'm thinking of having a collision avoidance system; a set of sensors (sonar?) that would try to avoid obsticals (such as robots) by driving around them. It would also try to avoid the platform and the guard rail.

On a sidenote, herding balls will be interesting. I'd imagine that they'd go all over the place unless your robot has a neat device that would keep them under control

Nevertheless, I'd like to hear more on other team's autonomous ideas.
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Unread 26-01-2004, 20:22
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Re: What to do with autonomous

We are working on a robot that hopefully will be able to do almost anything in autonomous mode. I have already put together the IR beacons and am working on the Banner Sensors. I do have a question about the banner sensors. Are you supposed to run it through the 5V digital output? We tried doing that and nothing happened. I think it needs 12V to run, but there seems to be no place to put it.
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Unread 26-01-2004, 20:29
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Re: What to do with autonomous

See here for details:

http://nrg.chaosnet.org/uploads/rts....ightsensor#rts
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