Sonar test

Test Video

Enjoy~

Field Test 2 w/ Video

Date: March 16, 2008 (Sunday)
15:00 pm
I conducted new GPS navigation test over the weekend in one of a campus parking lot.
The point of this test was to evaluate newly added navigation algorithm in the program.
Also the field itself is much bigger and not many obstacles placed around.
I solved the heading confusion problem which occurs when the waypoint is placed on the north, by adding two lines of code.

if(Goal_HDG - Current_HDG > 180) D_HDG = Goal_HDG - 360 - Current_HDG;
else if(Goal_HDG - Current_HDG < -180) D_HDG = 360-Current_HDG + Goal_HDG;

The graph shows two different experiment with same waypoint data.
Only difference was the direction and position of the starting point.

At this time I can check the robot draws smoother trackings and does not fell into a heading confusion problem.
For next experiment, I would attach a SONAR in front and test the navigation with obstacle avoidance.

Kyubot overview.

I assembled the body frame on the rc car body to set up for the test.
still looks too complex and should be fixed.

So many lines, make me crazy~

Under testing Kyubot

In one of the roads in the campus.
I was trying to modify way-point data in the SD memory module.


Picture taken by Brad.
3/13/2008, 4:00pm
UF, MAE-C

Field Test 1

The first actual field test held on a parking lot in the campus.
This picture shows the result of GPS navigation.
The length of each small segment is approximately 6~7 meters or 20 ft.
Navigation start from the one edge of the parking lot and finish at one of the slots.

So far, there was no problem at least going from east to west or vise versa, or to the south.
However, going to the north has some problem due to heading confusion at near 360 or 0 degree which both stands for absolute North.