Autonomous Perception

[kamocat]

Originally Posted by kamocat

Some things a robot might want to know are:

• Where am I on the field?
• Where are the robots around me? (what alliance are they?)
• Where are the balls around me? (on the floor, presumably)
• Where are the goals? The bumps? The towers? The walls?
• Have I flipped over?
• What are the other robots doing? Do they need help? (Inter-robot communication)

I've copied this message from http://www.chiefdelphi.com/forums/sh...t=84797&page=3

Originally Posted by biojae

This is where the GDC may play nice again, and bring back something like the 2 freq. IR beacons.
But, even if they don't there are simple ways for determining where you are on a field using encoders (Assuming the wheels don't slip. Hard for last year).

Using kinematic formulas:

S = (Delta Left + Delta Right) / 2
Delta Theta = (Delta left - Delta right) / wheelbase
Theta = Theta + Delta Theta
X = X + (S * cosine ( Theta ) )
Y = Y + (S * sine    ( Theta ) )

This satisfies one item on the list, but only slightly.

As far as knowing where other robots are, that would need a lot of DSP, or an external observer telling the bots where they are, or all bots to communicate with each other