- marker odometry adjustment
- rotating about the marker
- interacting with yml file and building path-following
- human does path decision-making on house image
- obstacle avoidance?
Obstacle avoidance:
- paths that exist
- do calculations for which paths are affected and how
- maybe determine robot’s course of action in these situations
- integrating localization + camera data together and moving robot along some specified path..
- softer assignment of obstacle avoidance?
Knowns: paths/lines + colors obstacle locations
Some Functionalities We need to build: Rotating about marker Localization + Camera Integration this is pretty big... Positioning marker based on odometry How to draw a line and bezier curve go to goals… assess obstacles Planning-stage; how do you select for the order of line segments/paths… Translating path positions into odometry positions.
Case 1: Let’s think about the basic case: 4 line segments, a rectangle, all in field of vision of camera, and no color changes.
We need to: (assess the line segments and decide on an order of points.)
Move to the start of the segment sequence. Draw along the segment sequence. NOTE: rotations are important here
Case 2: Let’s think about the basic case: 4 line segments, a rectangle, all in field of vision of camera, and no color changes.
obstacle avoidance
Specific issues: rotating about a marker point Thinking about going backwards dealing with obstacles