As I already mentioned there is still a lot of work to be done on this project. Here is a brief list of the things I am
working on right now.
Release the source code.
When localizing, try to rotate all range vectors by a small amount until a better fit is found. This way
orientation errors will become even less significant. Also a orientation correction can be generated this way.
Complete re-factoring of the GUI and software structure.
Implementation of a path planner module. The path planner will produce the optimum path from the present location to
the a target location. This path will be reduced to a number of way-points that must be passed to reach the goal.
The area between way-point must be unobstructed. In each way point the path will be re-evaluated.
Implementation of an obstacle avoidance behavior. This behavior will be used for traveling between way-points.
This behavior must be dynamic so obstacles that are not mapped or are mobile can be avoided. The Vector Field Histogram
method seems very suitable. Other algorithms are also evaluated.
Implementation of an exploration behavior. This behavior will be used to identify unexplored areas in the map.
Make a more generic robot proxy interface that can be used by a variety of robots.
With the completed positioning software it will be possible to deploy the robot in an unknown environment,
and have it autonomously explore and map the floorplan.
If you have any questions or suggestions about these pages please drop me an email Copyright Vassilis Varveropoulos
Last updated 20 Apr 2001
If you have any questions or suggestions about these pages please drop me an email