Tatrabot mapuje miestnost - Igor Slovak
Contents
Goal of project
Goal of the project is show possibilities of TatraBot to map room using UltraSonic sensors. The basic output in ascii graphics will be used.
Overview
I'll use data from Ultrasonic Sensors mounted on both side of the TatraBot. Then I have programmed the robot to use compass to go straight and map the surrounding area.
Preparing the robot
First we have to mount and connect ultrasonic sensors to robots control board STM32. Then program to extrapolate the feedback numbers into real distance.
Challanges
The STM32 controler doesn't have microsecond delay therefore I have to use a dummy cycle and measure the time spend for it in order to create 10micro second impuse to activate ultrasonic sensors.
- Understanding STM32 programming is a must
- Connect Ultrasonic Sensors and
As a result I have connected the TatraBot via BlueTooth to computer to receive results and print the final map of the "room"..
Results
I have updated the default Demo program and created option u: which started mapping functionality. Media:demo.c
Result of the
Code
CODE HERE Media:Projekt.7z
Conclusion
LCS provide interesting approach to solving machine learning problem. The main advantage of this approach is extremely straightforward representation of rules from rule population on comparison of often used neural network or random forrest.
