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elbridge / yard_bot

GPS-RTK based autonomous lawn mower
GNU General Public License v3.0
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IMU methods #8

Open elbridge opened 5 years ago

elbridge commented 5 years ago

https://github.com/cboulay/PSMoveService/wiki/Sensor-Fusion Also explore Kalman filter techniques for overall navigation using multiple positioning systems.

elbridge commented 5 years ago

ROS has a module that uses Kalman filters to combine GPS and IMU data see wiki: http://docs.ros.org/melodic/api/robot_localization/html/index.html

frivas12 commented 5 years ago

More good sources for odometry http://wiki.ros.org/robot_pose_ekf https://github.com/udacity/robot_pose_ekf

We should plan on encoding the drive wheels, for the small bot we can use https://www.amazon.com/DAOKI-Optocoupler-Sensor-Module-Arduino/dp/B01MRELRS1/ref=sr_1_3_sspa?keywords=Optical+Interrupter+Sensor&qid=1555164051&refinements=p_85%3A2470955011&rnid=2470954011&rps=1&s=industrial&sr=1-3-spons&psc=1

frivas12 commented 5 years ago

We may need to use stepper motors instead because encoders will be taxing the CPU unless we use a spi or I2C encoder.

elbridge commented 5 years ago

I think this IMU would be a good starting place. Well respected and plenty of example code: https://www.sparkfun.com/products/13762

frivas12 commented 5 years ago

we must think the same way. I ordered this one because I have this one coming today https://www.amazon.com/gp/product/B01I1J0Z7Y/ref=ppx_yo_dt_b_asin_title_o00_s00?ie=UTF8&psc=1

Same IUM, I saw it on sparkfun but was cheaper on Amazon and faster free shipping.

Just installed RSE

Panchy Rivas

From: elbridge Sent: Sunday, May 12, 2019 9:15 PM To: elbridge/yard_bot Cc: frivas12; Comment Subject: Re: [elbridge/yard_bot] IMU methods (#8)

I think this IMU would be a good starting place. Well respected and plenty of example code: https://www.sparkfun.com/products/13762 — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

frivas12 commented 5 years ago

I’m having trouble installing the RSE stuff… getting errors.

Instead of spending hours trying to install it, I’ll bring in my tablet and maybe you can help me.

Can we test it w/o the PI?

Panchy Rivas

From: elbridge Sent: Sunday, May 12, 2019 9:15 PM To: elbridge/yard_bot Cc: frivas12; Comment Subject: Re: [elbridge/yard_bot] IMU methods (#8)

I think this IMU would be a good starting place. Well respected and plenty of example code: https://www.sparkfun.com/products/13762 — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.