11.11.2008
  • Mapping update Meeting
    • work in trunk/code/projects/mapping
    • Robot:
      • driving, gathering encoder/range data
      • sending data to server over wireless
        • need to test frequency of sending packets
    • Server:
      • sending driving commands
      • receiving data, output to file for MATLAB input
        • space-separated values: x y theta IR1 IR2 IR3 IR4 IR5
      • odometry on robots
  • Multiple Robot Behavior:
    • Desired Properties
      • Overlapping maps
      • Shared origin
        • robots must know where they are in relation to each other to get this
    • Actual Behavior
      • make BOM contact with another robot
        • estimated distance reading would help
      • try to follow another robot
        • could parallel path but moved over slightly to give a wider view while also corroborating data
        • then treat as leader/follower in actions
        • get groups to link up with each other and then separate to establish meeting point between maps
    • Shortcuts
      • one solution to the 'master origin' problem for multiple robots is to start each robot at the same point with the same orientation
        • this isn't very useful and takes effort, but it works
      • could also establish an initial offset in robots, but accurate initial placement would still be an issue