Kalman Robot - Revision history

Adamcolton at 20:32, 31 March 2020

2020-03-31T20:32:05Z

← Older revision		Revision as of 20:32, 31 March 2020
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	* https://vimeo.com/20528506		* https://vimeo.com/20528506

			[[Category:Robotics]]

Adamcolton at 17:08, 4 October 2018

2018-10-04T17:08:38Z

← Older revision		Revision as of 17:08, 4 October 2018
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	The main board will be something like a RasPi. GPIO used to drive the two stepper motors. LiPo batteries. There will be a mating charge station.		The main board will be something like a RasPi. GPIO used to drive the two stepper motors. LiPo batteries. There will be a mating charge station.

	== Kalman Filter ==		== Localization Software ==
			The localizer software should be flexible so that I can publish it and other people can write software for it.

			I think the correct approach is going to be 3 levels. The outer takes position approximations from different sources and combines them. The second layer takes data from sensors and aggregates it into approximations. The third layer takes actual sensor readings and cleans it up for the models.

			=== Kalman Filter ===
	The filter needs to be trainable so that it can learn about it's environment.		The filter needs to be trainable so that it can learn about it's environment.

	A good upgrade would be the ability to look for measurements that are no longer accurate and update them.		A good upgrade would be the ability to look for measurements that are no longer accurate and update them.

			=== Markov Localizer ===
			Some of the data may work better with this.

			* https://vimeo.com/20528506

Adamcolton at 16:48, 4 October 2018

2018-10-04T16:48:31Z

← Older revision		Revision as of 16:48, 4 October 2018
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	== Kalman Filter ==		== Kalman Filter ==
	I'~~m not sure how represent probabilities~~ for ~~this. I could use a discrete filter~~.		The filter needs to be trainable so that it can learn about it's environment.

			A good upgrade would be the ability to look for measurements that are no longer accurate and update them.

Adamcolton at 16:44, 4 October 2018

2018-10-04T16:44:25Z

← Older revision		Revision as of 16:44, 4 October 2018
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	* Wheel Encoders		* Wheel Encoders
	* GPS		* GPS
	* ~~Tilt angle (for uneven ground)~~		* Accelerometer
	* Wifi signal strength		* Wifi signal strength
	* Sonar module		* Sonar module

Adamcolton at 16:43, 4 October 2018

2018-10-04T16:43:45Z

← Older revision		Revision as of 16:43, 4 October 2018
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	The main board will be something like a RasPi. GPIO used to drive the two stepper motors. LiPo batteries. There will be a mating charge station.		The main board will be something like a RasPi. GPIO used to drive the two stepper motors. LiPo batteries. There will be a mating charge station.

			== Kalman Filter ==
			I'm not sure how represent probabilities for this. I could use a discrete filter.

Adamcolton: Created page with "A robot that can be taught to navigate a finite space using a Kalman filter. The filter needs to position it in the X,Y axis as well as the X,Y rotation, so 3 dimensions. Inp..."

2018-10-04T16:39:04Z

Created page with "A robot that can be taught to navigate a finite space using a Kalman filter. The filter needs to position it in the X,Y axis as well as the X,Y rotation, so 3 dimensions. Inp..."

New page

A robot that can be taught to navigate a finite space using a Kalman filter. The filter needs to position it in the X,Y axis as well as the X,Y rotation, so 3 dimensions.

Inputs
* Wheel Encoders
* GPS
* Tilt angle (for uneven ground)
* Wifi signal strength
* Sonar module

The design will be a tread based robot. The body can be 3D printed. The case will need to be water proof.

The main board will be something like a RasPi. GPIO used to drive the two stepper motors. LiPo batteries. There will be a mating charge station.