Outdoor navigation, build map by odom and perimeter wire

asked 2021-04-15 14:45:19 -0500

PaddyCube
76 ●14 ●17 ●21

Hello,

I'm in ROS2 Foxy and have build a lawn mower robot which uses a Perimeter wire as boundary fence.

The robot is equipped with Perimeter Sensors to detect if it is inside or not. It is able to follow/track the perimeter wire. Also it is equipped with odometry, IMU+compass, bump Sensor, cheap GPS and sonar.

Now I'm looking for a solution to build a map during robot tracks Perimeter. I found lots of Tutorials using lidar, but I don't have. Also GPS is inaccurate as it jumps up to 5 meters while not moving.

My planned solution is to record position while tracking by odom and imu and build the map. But I don't have any glue how to start even not which package might be a string point.

I know that compass imu and odom will drift and that Offset will increase by time but this is tolerble for me

Any hints are welcome.

answered 2021-04-18 10:14:41 -0500

duck-development

1999 ●4 ●160 ●25

the problem is you do not have real features. for relocation on the map. during the drive if you hit the perimeter you do not know where. maybe visual odom is something for you.

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Hello thank you for your input. You're right, if I hit Perimeter when it shouldn't as a result of drift, it is hard to re localize. Maybe I can track Perimeter for some meters and compare poses and course to match with the initial mapping.

Currently, I just want to do some coverage path planning based on the build map. If I get 70% coverage, it will be enough for the first attempt. Currently mower act stupid by simple turn random if bumper or Perimeter gets hit.

But first of all, there must be a map build based on waypoints by odom and Imu only. This is what I want to know.

Patrick

PaddyCube ( 2021-04-18 14:30:28 -0500 )edit

If it would be possible to get a map only with an geofance no one would need the lidar stuff. Because a bumper is also the same as a parameter fance.

And if you drive outdoor you IMU and encoder are not as good as indoor.

duck-development ( 2021-04-20 11:32:37 -0500 )edit

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