Project

General

Profile

Bug #4772

Retest Fuzzy logic obstacle avoidance using laser scanner

Added by msunardi over 5 years ago. Updated over 5 years ago.

Status:
Resolved
Priority:
Normal
Assignee:
Start date:
05/01/2014
Due date:
% Done:

100%

Estimated time:
Spent time:

Description

Previously the obstacle avoidance routine wad using Kinect data that has been modified to mock laserscan data. Now that the SICK scanner has been installed. Check if the avoidance routine still works using the actual laser scan data.

History

#1 Updated by msunardi over 5 years ago

Changes done:
  • obstacle avoidance now not being called from launch file, but by running python obstacle_avoidance.py
  • scan data points are now 180 points instead of 480
  • division of scan points into three regions: left/right (70 points ea.), front (40 points)
  • added averaged distance scaling factor. Right now set to 1.0. Smaller number would mean a more conservative distance (the program assumes distance is much less than actual measured)
todo:
  • fix the path to the obstacle avoidance node
  • make its own launch file which just include jeeves.launch

Also available in: Atom PDF