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The robot has to move very precisely, so it can mark correctly, where the artifacts are. We had to find a way, to navigate our robot in space.
First test
First test
Our first test was with two distance sensors at the side of the robot. We wanted the robot to find his distance from the wall with these sensors. If one sensor had wrong value, the robot would rearrange itself, for it to go the correct way. This system did, sadly, not work properly. We thought, that there was a problem with the sensors. To test the sensors, we made a simple program, that stopped the robot, when there was a obstacle in front of it. This program worked and we realized, that this first navigation method does not work for our robot, rendering it for us useless.
We needed help with navigation solution. So, we concacted LNX robots team, a slovak team competing in robot soccer. The competing robots in this competition need to be very precise. We arranged a call with the leader of this team, who told us about different ways to navigate a robot.
Finding ways to navigate a robot:
Finding ways to navigate a robot:
The leader of this team told us about different ways to navigate a robot, that they use in robot soccer and also in different projects. The advice of how and when to use different navigation methods, were really helpful. The leader told us about LiDar, Apriltags, different cameras and their placement on the robot and about a very precise GPS. We made notes about the functions and decided to test some of them.
We tested:
We tested:
LiDar - LiDar is a device, that measures distance with a laser and spins very fast in the process. This way, it can measure, how far objects are around it. This device was very interesting to test, but we decided not to use it in our prototype. The reason was that the values from the sensor were very hard to process in code.
Apriltags - Apriltags are QR-code like images, that robot can detect with a camera. Each Apriltag has an assigned number. The camera can also detect how far the Apriltag is and the inclination of the Ariltag. We use only the "find the Apriltag" and Apriltag number features in our prototype.
Distance sensor - The glorious purpose of a distance sensor on our prototype is to not collide with any obstacles
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