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[DPRG] New research maybe has some ideas for us

Subject: [DPRG] New research maybe has some ideas for us
From: David Anderson davida at smu.edu
Date: Thu Apr 19 23:41:03 CDT 2012

Rud,

"It does so by switching from navigation mode to perimeter following 
mode *when it finds that the target waypoint it is seeking to acquire is 
directly behind the robot, *and switching back to navigation mode when 
the target is directly in front of it."

Sorry if that wasn't clear.

cheers,
dpa


Rud Merriam wrote:
> How does LegoBot determine it is in a singularity trap?
>
> - 73 -
> * Rud Merriam K5RUD
> * / Mystic Lake Software <http://mysticlakesoftware.com/>
> /
>
> On 4/19/2012 9:04 PM, David Anderson wrote:
>> Howdy,
>>
>> I like the idea of penalizing longer connections, interesting that the 
>> brain does that already.  Something that Brad wrote got me thinking 
>> about some recent experiments we did at the DPRG:
>>
>> "Maybe the local one uses geometry only to determine current heading, 
>> but gets stuck in canyons  etc."
>>
>> When Ed Paradis was here over Christmas (we miss you Ed!) we built an 
>> impromptu "waypoint singularity trap"  i.e., canyon, to test out 
>> LegoBot's ability to handle such situations.   It does so by switching 
>> from navigation mode to perimeter following mode when it finds that the 
>> target waypoint it is seeking to acquire is directly behind the robot, 
>> and switching back to navigation mode when the target is directly in 
>> front of it.  This seems to work pretty well.  Here's the video we made:
>>
>>
>> <http://geology.heroy.smu.edu/dpa-www/robo/lego/20111220_robo2.mpg>
>>
>>
>> I did a longer version with a more verbose (too verbose?) explanation at 
>> home in my shop:
>>
>>
>> <http://geology.heroy.smu.edu/dpa-www/robo/lego/20111220_robo.mpg>
>>
>>
>> jBot has a similar behavior that is documented on it's web page, but 
>> it's not quite so obvious what's going on.   In particular, no new 
>> waypoints are added (or needed) for the robot to handle these 
>> situations.  I alluded to this in the DPRG talk I did a few months ago, 
>> but hopefully these videos make it more understandable.
>>
>>
>> happy roboting,
>> dpa
>>
>>
>>
>>
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