Let's build a smart robot lawnmower
Quick example of localization with only a 360 degree LiDAR. The final robot will use RTK+IMU+ODOM, running through a extended Kalman filter with a 6D model (3D position and 3D orientation) to combine measurements from wheel odometry, IMU sensor, visual odometry and GPS position. The outcome from this will be feed to the AMCL package […]
This week I’ve did the first actual test drive on my lawn. Everything went fine and the robot is mowing around fine even with the mounted temporary front wheels. For the test drive I am using the morph stack with a DS4 joystick. The speed is okay, I could reduce the speed slightly in the joystick launch. […]
In order to be able to use encoders on the HW pins on the VESC (avoid modification of the VESC hall sensor filter) one need to upgrade the Firmware to a later version with the option //#define AS5047_USE_HW_SPI_PINS 1 in the conf_general.h file. by uncommenting that line the VESC will use HW ports to communicate with the encoder. If […]
So the last days I have been busy. All parts for the drive system was completed and tonight I finished the first test assembly of the drive system. Its a lot of parts for this part of the project and a lot of things need to be correct in order for a nice run. It […]
This weekend we have started exploring the ROS world, sensor simulation, mapping and localization. The project has still a long way to go, but its time to start exploring possible solution for mapping & localization in an outdoor environment for the robot. The main difference with an outdoor environment is a non flat “world” and the constant light […]