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Corner to Corner Contest - Rules Started in June 2015
Discussion: I was trying to remember what it takes to navigate across the room properly - which was nicely described in this Spring 2014 course: https://www.coursera.org/course/conrob It turns out that if you search http://youtube.com with something like “Control of Mobile Robots” or even specifically “Control of Mobile Robots 6.3” – all lectures are still there. Here is what is related to competition:https://www.youtube.com/watch?v=WRyVy576olM - 2.5 Behavior-Based Robotics https://www.youtube.com/watch?v=Lgy92yXiyqQ - 2.6 Go-to-Goal https://www.youtube.com/watch?v=bsdBFHMSI2E - 2.8 Obstacle Avoidance https://www.youtube.com/watch?v=5d1u2hNi_T8 - 6.1 Behaviors Revisited https://www.youtube.com/watch?v=dj42ZE3clxE - 6.2 Hard Switches vs Blending https://www.youtube.com/watch?v=WXpIITWrbOg - 6.3 Convex and Non Convex Worlds <--start here if in a hurry! https://www.youtube.com/watch?v=z7NzPln7WTE - 6.4 Boundary Following https://www.youtube.com/watch?v=MEdMW1hk-HA - 6.5 The Induced Mode https://www.youtube.com/watch?v=GbST0sDxvG8 - 6.6 A Complete Navigation System https://www.youtube.com/watch?v=xqKWNc29YQo - 6.7 Practical Considerations The above is quite complex; here is an Arduino “no-math” approach with code: https://www.youtube.com/watch?v=LQKHeeMBwbI https://docs.google.com/document/d/1EULUhXL978xHmIlP4cErjugKC0JFe9WlI5DHhfoc7zo/edit - it is lacking go-to-goal control though. Can be easily added using one of the 9DOF IMU sensors (https://github.com/Seeed-Studio/Grove_IMU_9DOF) – by making robot choose certain direction. Enjoy,-- Sergei A few ideas that are being discussed:
A few comments about our efforts to formulate rules for this contest. 1 - Non-Convex objects to use as obstacles. We plan to place obstacle in the 10 foot by 14 foot contest area. They should be common objects that everyone already has or can acquire cheaply, examles would be: Soda cans, Books, Bricks, etc But what do we use for the non-convex shaped obstacles described in the on-line course which are more difficult to pass around? Any suggestions for these obstacles? 2 - The contest is to place your robot at one corner of the 10 by 14 foot area, place your choice of beacon at the diagonal corner. The judge will place the obstacles randomly. Your robot should go the the beacon without contacting any obstacles. Remote control is NOT allowed. I would appreciate any comments or suggestions, so that we can have a preliminary set of rules for the pre-qualification version of the contest at our July 11 meeting. Jim UbersetzigPresident of RSSC That's a good start, Jim.
Although I won't be able to make the July meeting, some ideas for obstacles are randomly placed cardboard boxes (everybody has has access to these at food stores). A tripod of broom sticks would make a more complex obstacle which might fool a few robots because of the 45 degree angle (maybe bonus points for navigating through the middle, if it is a small robot). Not touching the obstacles (unless it uses "touch switch" sensing). Maybe pieces of cardboard along perimeter to keep robots inside the contest area.Thanks. Bob |
