The Year of CoCoRo 28/52: This video shows our test of "dead reckoning" performed by a Jeff robot in Livorno harbor. The robot was programmed in a way that it goes along a straight-line trajectory for some time, then performs a circular search pattern (including collision avoidance) and then, after some time, makes a direct return to the point where it was started. The robot only uses its internal magnetic compass sensor, its internal clock and blue-light LEDs for collision avoidance. No global information like GPS was involved, the robot had no absolute positioning system. We were surprised how well this very simple behavior worked despite the currents in the harbor and despite occasional collision-avoidance behaviors triggered by buoys in the harbor. The safety line (a thin fishing thread), which we applied to make sure the robot does not get lost, was actually never needed as the robot came back to us like a boomerang every time.
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