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[DPRG] stella's test drive outdoors
Subject: [DPRG] stella's test drive outdoors
From: Chris Jang
cjang at ix.netcom.com
Date: Sun May 6 20:21:36 CDT 2007
Hello,
Here is a video of Stella driving autonomously in a parking lot.
http://golem5.org/video/mvi4022.mpg
The video is shaky as I have a remote kill radio in my left hand
in addition to the digital camera in my right. The behavior is
somewhat unpredictable. Much of that is due to camera exposure
problems. I believe that Stella stopped at the end when the JPEG
decoder crashed. So there are stability issues too. However, all
of the electronics seems 100% - no crashes or faults.
I'm not sure how Stella can drive the IDSC outdoor contest course
later this month. Most robots have GPS and odometry to correct
for drift (...Kalman filter...). As Stella has only a webcam, not
even odometry, the only thing she can do is drive by the clock
and correct based on what she sees at a very low frame rate. I'm
thinking that I can drive any contest course manually by remote
control and have Stella take pictures along the way. Then a
solution can be programmed based on this. The webcam images are
what Stella must use to correct for drift.
Chris
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