Differential Drive 2 Wheel Odometry

Authors

Ankit Deo Dept. of Electronics & Instrumentation Engineering, Vellore Institute of Technology, Tamilnadu, India
Raaghavi Ravisankar Dept. of Electronics & Instrumentation Engineering, Vellore Institute of Technology, Tamilnadu, India

Robot, Differential Drive, MATLAB

Things that we used:

We used a 2 wheel differential drive robot for indoor mapping of an environment.
Used MATLAB PRM path planner to find an obstacle free path in the environment
Used image processing to find obstacles in the environment.
In cases where image processing failed to give the exact location of the obstacle, we used an ultrasonic sensor as an interrupt to avoid collision

What did we get:

As we increased no. Of nodes the probability of getting an obstacle free path increased but at the same time no. Of combination between the nodes increased nc2 times this caused a lot of lag in the MATLAB software as data to be processed increased at a rapid rate.
Connection distance and look ahead distance: distance between two nodes cannot be less than the dimension of the bot so we need to set the connection distance between two nodes to be atleast 1.25 times of the dimension of the bot.

http://rossum.sourceforge.net/papers/DiffSteer/
https://robotics.stackexchange.com/
Evangelos Papadopoulos and Michael Misailidis, “On Differential Drive Robot Odometry with Application to Path Planning,”, Proceedings of the European Control Conference 2007 Kos, Greece, July 2-5, 2007.
D. Fox, W. Burgard, and S. Thrun, “The dynamic window approach to collision avoidance”, IEEE Robotics & Automation Magazine, 4(1):23–33, March 1997.