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How to make a slam robot with navigation?

asked 2016-01-07 08:39:25 -0500

YingHua gravatar image

updated 2016-01-07 20:47:14 -0500

Hi,

I have been studying slam for a while,including hector_slam,rgbdslam.....etc.

And now,I am trying to make a slam robot with navigation.

Here are models I estimate to.

  1. raspberry pi 2 with ubuntu 14.04 and ros indigo
  2. two simple dc motor
  3. tb6612fng motor driver
  4. IMU MPU9255
  5. Sensors and algorithms

    RPLidar (Hecor SLAM or gmaping)

    Simple webcam (lsb_slam) image description

But I don't know how to start it! :( Could anybody share your experience , sample or suggests to me ?

Thanks!! Alyson

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answered 2016-01-07 10:40:23 -0500

duck-development gravatar image

updated 2016-01-08 07:11:37 -0500

To parts are still missing: Battery plus some voltage converters. You can use a USB-Powerbank für die 5V supply (Raspberry Pi2, Motor Voltage). And solder a small 5V To 3.3V LDO for the Motor Controller VCC and the IMU (it is not recommended to use the Raspberrys 3.3V output for externel use). You need the 3.3V because the I/O system of the Pi work with 3.3V.

Now you can Connect the IMU to the SPI Pins of the PI, if you IMU breakeout board only have I2C so you have to connect to the I2C bus of you PI.

now you connect the motors driver enable pins to the soft PWM Pins of the Pi. The Dir pin to other pi ins. wire the motor pins with the motor and you finished wire up.

then you sandwich the pi between the MoveBase and the Laser Sensor, put the camera in front and you are done with hardware.

an recommended Extension is to add motor encoders and an arduino (3.3V) or µC(3.3V). then you should connect the encoders and the motor driver to the arduino and the #arduino to the pi. An Arduino have a faster IO system so you can have a faster motor control loop, an Arduino is more deterministic then the PI, so you control jitter is much smaller. You load of Low Level Computation to the Arduino. There are Special Arduino libraries from ros to communicate.

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oh!! Thanks for remind me. I forgot to list sensors.

YingHua gravatar image YingHua  ( 2016-01-07 11:03:01 -0500 )edit

Would you share with me about your project platform? (If you have and would like to )Thank you!! qoo810823@gmail.com

YingHua gravatar image YingHua  ( 2016-01-07 11:08:56 -0500 )edit

Just like this video. https://www.youtube.com/watch?v=SeNLU... A little robot with navigation and map and auto path planning. stop till the map finish.

YingHua gravatar image YingHua  ( 2016-01-07 20:57:32 -0500 )edit

to get the imu working here are some driver

duck-development gravatar image duck-development  ( 2016-01-08 07:23:18 -0500 )edit

Thank you !! I am trying to use hector slam algorithm.

YingHua gravatar image YingHua  ( 2016-01-08 07:27:31 -0500 )edit
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answered 2017-11-17 10:27:50 -0500

Hassam gravatar image

Hello there, I have also started this project and I have decided to use the Lidar and Raspberry Pi model 3, but I'm stuck at the start. I don't know how to start and where to start I have to order the equipment too, it'll be great if you share your thoughts with me that how you have done yours. Thank you, email: f148359@nu.edu.pk

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answered 2016-06-30 13:39:57 -0500

RoSPlebb gravatar image

Hi!

How did your robot turn out. I am currently working on mapping for my robot. Do you mind sharing how you got the robot to map autonomously?

I Have Hector_Slam working and now i need to understand how to move the robot.

Thank you for any help you may be able to provide!

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If you are having problems it would be best for you to start a thread for your specific issue

Icehawk101 gravatar image Icehawk101  ( 2016-07-05 09:16:21 -0500 )edit

@RoSPlebb Sure, I can share with you how I start it.

Would you send a email to me frist?

YingHua gravatar image YingHua  ( 2016-07-14 08:08:27 -0500 )edit

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Asked: 2016-01-07 08:39:25 -0500

Seen: 2,439 times

Last updated: Jun 30 '16