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[DPRG] stella driving down a path

Subject: [DPRG] stella driving down a path
From: Charles Thurston cthurston at sc.rr.com
Date: Sat May 12 07:47:40 CDT 2007

Hello Chris,


Friday, May 11, 2007, 9:35:17 PM, you wrote:

> http://golem5.org/video/mvi4027.mpg

> Hello Everyone,

> Here is Stella again. There are no changes to the simple
> obstacle avoidance algorithm from the last movie in a
> parking lot. What's going on is purely reactive behavior.
> There is no path planning or kinematic model.

> Note that Stella has no sensors other than a USB webcam
> running at around 1.3 frames per second.

> It looks interesting but really there is a lot of work to
> do. The computer vision is the simplest possible - look
> for a clear patch of ground immediately ahead - and
> ignores a lot that is useful. There is also no control
> model. I just picked constant thresholds and duty cycles
> for sensing obstacles and driving the motors. It is
> entirely ad hoc and does not adapt at all. That's why
> Stella over-corrects. A real control system is necessary.

> By the end of the year, it will probably be necessary to
> move on to another robot. That will probably be a hobby-
> grade RC vehicle with at least 10x the computer power.

> Chris
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Best regards,
 Charles                            mailto:cthurston at sc.rr.com

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