Ask Your Question
2

Wall/Line Following Operation

asked 2012-01-10 00:56:56 -0500

DimitriProsser gravatar image

updated 2012-01-10 04:06:45 -0500

I'm attempting to implement a wall/line following protocol on my robot, and I'm not sure how to go about doing so. To make things more difficult, the robot must follow a wall that's not always in the same place (so I cannot use it for localization with amcl), there's no a priori knowledge of the length of the wall, the wall is not guaranteed to be a continuous straight, and the path must be smooth (no pauses between waypoint assignments) because the robot travels at up to 15mph.

Because of these factors, I don't think that I can use the navigation stack. I was just wondering if anyone else has encountered a similar problem and if you found a solution. Perhaps there is an alternative navigation stack somewhere, or there is a specific planner I could use for this purpose?

Thanks.

EDIT: My sensor array includes, but is not limited to: two single-line laser scanners, a four-line laser scanner, IMU, GPS (outdoor robot), PTZ camera, etc.

Currently, the two single-line scanners are configured to be co-planar, such that they can detect obstacles in a 360 degree arc around the robot. The four-line scanner faces downward to profile the ground in front of the robot.

edit retag flag offensive close merge delete

Comments

What sort of sensors do you have available? This sounds like something I did freshman year with a microcontroller, a distance sensor and a PID loop.
ahendrix gravatar imageahendrix ( 2012-01-10 03:41:55 -0500 )edit

Hello, could you figure out the way to do what you asked. i have a Turtlebot with URG lidar, looking to do the same wall following thing, but im stuck. if you had a success do you mind sharing the method u used? thnX!

sobot gravatar imagesobot ( 2015-03-15 22:44:10 -0500 )edit

1 Answer

Sort by » oldest newest most voted
0

answered 2012-04-27 02:29:44 -0500

Procópio gravatar image

Hi, What about creating a virtual goto point in front of the robot and at a certain distance from the wall? Then implementing a simple follower to reach that point, that is always being pushed forward. Or as suggested by @ahendrix, just implementing a simple control loop to maintain a distance from the wall sending direct velocity commands to your base.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2012-01-10 00:56:56 -0500

Seen: 1,738 times

Last updated: Apr 27 '12