Tourguide robot

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Tour-guide robot

• Michael Edelson

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General Setup
10m
5m
Rounded corners
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Path taken
Start/end
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Path taken
(9.5,4.5)
(0.5,4.5)
(5,3)
(0.5,0.5)
(5,0.5)
(9.5,4.5)
Start/end
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Dead-reckoning only

• Run through whole course (6 waypoint transitions)
• Check x,y offset with tape measure, and estimate
  angle offset if its great enough

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Filtered result

• Run with LADAR assisting by placing an object
  with right angles (in this case an office chair)
  in the world
• Check x,y,theta

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Now, try to ruin the filtering!

• Filtering is based off right angles, so try the
  two options
• One test with me walking around while the robot
  is moving
• One test with me rolling the office chair slowly
  around while the robot moves
• Similarly check the results

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Problems

• Robot has horrible hardware problems!
• Hopefully sorted out
• Videos tonight/tomorrow!

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What should happen

• The filtered result should be closer to the
  starting point than the dead-reckoning trial
• By moving the office chair around, the result
  should be worse than the filtered result (and,
  mostly likely, the dead-reckoning only results)
• Me walking should be about as good as the
  filtered result. There is a possibility of some
  degradation from when my feet are lifted (since
  the soles of my shoes have right angles at the
  edges), but otherwise it should ignore me.