ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
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Rover/Boat: mapping mode #9347

Open rmackay9 opened 6 years ago

rmackay9 commented 6 years ago

It would be very convenient for users is we had a "map" control mode that would cause the rover or boat to cover all accessible areas of an indoor space or lake while also staying within the bounds of the polygon and circular fences.

boat-fence-with-possible-path

The usefulness of this potential mode comes from mapping a lake as described in this Blog. The user has to be quite careful about placing the waypoints so that they are close to the shore (so that we map all of the lake) but not too close or the boat could get stuck in weeks or hit the shore. This can be difficult especially in cases where the GPS coordinates don't exactly match the GCS's map (due to GPS errors or inaccuracies in the map service the GCS is using).

DavidA made this comment:

the biggest issue I have found when survey is trying to plan the route as maps is not that accurate there can be up to a 10m map shift. How always have to survey the perimeter of the reservoir with GPS before planning a mission

DavidB says something similar:

I usually do a survey grid first then a few laps around the perimeter in steering mode using telemetry and FPV after the auto grid is complete.

Below are some thoughts on how it might work for boats which could be simpler than what is required for rovers because they typically operate in a simpler environment.

A more advanced algorithm somehow capable of mapping behind barriers would be nice eventually.

Avalonnw commented 6 years ago

As an option - set a point in the middle and spiral out with pre-set distance between lines. If encounter a blocked path, keep going along the blockage until get to the required distance from previous line and continue. Something like "adaptive toolpath" in machining.

rmackay9 commented 6 years ago

@Avalonnw, that's an interesting idea, thanks!

Avalonnw commented 6 years ago

Actually, that reminds me a bit too much of robot vacuum cleaners and SLAM. My LG HomBot has this Spiral mode which is essentially the same. Is SLAM implementable on current hardware without companion computers at all?

Naterater commented 5 years ago

From the discussions of features for other vehicles, I think this is a prime candidate for scripting instead of a built-in feature. Just my $0.02.