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[DPRG] More jBot cone progress

Subject: [DPRG] More jBot cone progress
From: David Anderson davida at smu.edu
Date: Mon Oct 6 00:26:44 CDT 2014

Thanks Steve,

Camera looks straight ahead.  I tried scanning left and right but found 
it was just as likely as not to look away at an inopportune time, didn't 
really help.  Looking outward from the spiral might be an improvement 
--- I'll try that.

The robot spirals outward until the radius exceeds about 30 feet. Then 
it navigates back to the way point and starts the spiral again, but this 
time counter-clockwise.  If the second scan exceeds 30 feet, it gives up 
and marks the cone as found.  For the last waypoint in the list, it just 
repeats that pattern forever, clock-wise and counter-clockwise, with 
larger and larger maximum radii.

In the direct sun the camera seems to be able to see the cone at about 
15 feet, in the shade about half that.

jBot says he won't go back to NASA.  No cones (and, as Rud observes, no 
magnetic north!) on the moon, and Mars is RED in every direction...


On 10/05/2014 10:32 PM, Steve Edwards wrote:
> Wow David this is very cool!
> Overall it looks like jBot is coming along very nicely indeed.
> I have a couple questions.
> 1. When spiraling is the camera looking forward relative to the robots 
> course or at an angle (outward)?
> 2. How long will it spiral outward looking for the target?
> 3. It seems like the CMUCam can detect the cone from a fairly long 
> distance.  Any idea what the range is with your custom filters?
> On another note NASA called and said you have one of their robots.  
> They described it having 6 wheels and could find orange cones really 
> well.  Have you seen it?
> -Steve
> On Sun, Oct 5, 2014 at 9:35 PM, David Anderson <davida at smu.edu 
> <mailto:davida at smu.edu>> wrote:
>     Howdy,
>     jBot now can do a spiral search for an orange traffic cone if it
>     doesn't
>     find one at the waypoint:
>     http://geology.heroy.smu.edu/dpa-www/robo/jbot/jbot-cones-spiral2.mpg
>     also on youtube:
>     http://youtu.be/898XQB0h1Ls
>     Here is the robot navigating a large triangle, about 1350 feet total
>     length, with a cone near each waypoint:
>     http://geology.heroy.smu.edu/dpa-www/robo/jbot/jbot-cones-3.mpg
>     also on youtube (just for you, Doug!)
>     http://youtu.be/2MGMoq_P3VM
>     More details on jBot's webpage and at:
>     http://geology.heroy.smu.edu/dpa-www/robo/jbot/jbot-cones.html
>     cheers!
>     dpa
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