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Mapping
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The robot will have to cover about an acre with an avg speed no more than 1.5 m/s. T he accuracy needs to be with in about 1/2 meter over the 1 acre area. The area will be the same each time....but the flexablilty to change may need to be put in at some point in the future.
I would connect tachometers to two wheels and add some
means to calibrate it. e.g. two proximity sensors, corner
reflectors etc. at fixed locations.
You could even get the desired accuracy with ultrasound with 3 transmitters. <nbucska@pcperipherals.com>
means to calibrate it. e.g. two proximity sensors, corner
reflectors etc. at fixed locations.
You could even get the desired accuracy with ultrasound with 3 transmitters. <nbucska@pcperipherals.com>
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Assuming you can tell what corner you're in by the direction you're facing, you can use two compasses and four digital inputs (two from each compass) :
n n
w and e
e w
s s
Compass 1 Compass 2
Send current through the compass pointers and set up contacts at the north and south points that prevent the pointers from crossing them. In this way, compass 1 should never be able to point east and compass 2 should never be able to point west. This gives you 9 theoretically possible outputs:
Compass 1 Compass 2 Facing Direction
n/c n/c (Impossible)
n/c N East
n/c S East
N n/c West
N N North
N S West
S n/c West
S N East
S S South
Dave.
n n
w and e
e w
s s
Compass 1 Compass 2
Send current through the compass pointers and set up contacts at the north and south points that prevent the pointers from crossing them. In this way, compass 1 should never be able to point east and compass 2 should never be able to point west. This gives you 9 theoretically possible outputs:
Compass 1 Compass 2 Facing Direction
n/c n/c (Impossible)
n/c N East
n/c S East
N n/c West
N N North
N S West
S n/c West
S N East
S S South
Dave.
A corner reflector [CR] = 3 mirrors,90 deg. between any two (like a corner of a box ). It reflects
the beam parallel to the incident one.
You can measure the angle between any two CRs (2 CRs may be very close so their angle is minimum). If you know the position of the CRs and the angles, you can calculate your position.
If you rotate the beam, you can measure the angles very accuretelly. ( Tachom., PLL etc.)
<nbucska@pcperipherals.com>
the beam parallel to the incident one.
You can measure the angle between any two CRs (2 CRs may be very close so their angle is minimum). If you know the position of the CRs and the angles, you can calculate your position.
If you rotate the beam, you can measure the angles very accuretelly. ( Tachom., PLL etc.)
<nbucska@pcperipherals.com>
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