{"id":593,"date":"2012-01-02T18:36:50","date_gmt":"2012-01-03T02:36:50","guid":{"rendered":"http:\/\/www.bobandeileen.com\/?p=593"},"modified":"2012-01-02T18:36:50","modified_gmt":"2012-01-03T02:36:50","slug":"outdoor-robot-gets-somewhat-smarter","status":"publish","type":"post","link":"https:\/\/www.bobandeileen.com\/?p=593","title":{"rendered":"Outdoor Robot gets (somewhat) smarter"},"content":{"rendered":"<p>My Outdoor Robot project got some attention recently, now utilizing the ultrasonic sensors at the front to avoid obstacles. I&#8217;m still running it very slowly, so I can learn from watching it without having to run to catch it. I&#8217;ve implemented a <a href=\"http:\/\/en.wikipedia.org\/wiki\/Subsumption_architecture\">subsumption architecture<\/a> in the software that has a few simple behaviors:<\/p>\n<ol>\n<li>Startup: waits for a button press, and only allows for one minute runtime.\n<\/li>\n<li>Avoidance: using the front-facing ultrasonic sensors, turn away from obstacles. The turn is proportional to the distance to the obstacle.\n<\/li>\n<li>Cruising: run straight ahead at the maximum (slow, at this point) speed.\n<\/li>\n<\/ol>\n<p>In the videos below you can see this happening. There really isn&#8217;t a lot of &#8220;smarts&#8221; to the software, although it looks pretty good while running. Next up is to get the &#8220;remote stop&#8221; working then I&#8217;ll increase the speed. I also need to work on behaviors for when the robot gets itself into a corner e.g. backup and turn around.<\/p>\n<p>Enjoy these videos for now!<\/p>\n<p><a href=\"http:\/\/www.bobandeileen.com\/wp-content\/uploads\/2012\/01\/odr_avoiding_1n.mov\"><img decoding=\"async\" src=\"http:\/\/www.bobandeileen.com\/wp-content\/uploads\/2012\/01\/odr_avoiding_1.jpg\" alt=\"\" title=\"Avoiding 1\" class=\"alignnone size-full wp-image-588\" \/><\/a><\/p>\n<p><a href=\"http:\/\/www.bobandeileen.com\/wp-content\/uploads\/2012\/01\/odr_avoiding_2n.mov\"><img decoding=\"async\" src=\"http:\/\/www.bobandeileen.com\/wp-content\/uploads\/2012\/01\/odr_avoiding_2.jpg\" alt=\"\" title=\"Avoiding 2\" class=\"alignnone size-full wp-image-589\" \/><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>My Outdoor Robot project got some attention recently, now utilizing the ultrasonic sensors at the front to avoid obstacles. I&#8217;m still running it very slowly, so I can learn from watching it without having to run to catch it. I&#8217;ve implemented a subsumption architecture in the software that has a few simple behaviors: Startup: waits [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8,4],"tags":[],"class_list":["post-593","post","type-post","status-publish","format-standard","hentry","category-robots","category-software"],"_links":{"self":[{"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=\/wp\/v2\/posts\/593","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=593"}],"version-history":[{"count":10,"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=\/wp\/v2\/posts\/593\/revisions"}],"predecessor-version":[{"id":726,"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=\/wp\/v2\/posts\/593\/revisions\/726"}],"wp:attachment":[{"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=593"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=593"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.bobandeileen.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=593"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}