mapping - Using encoders and robotc to map a line circuit -


I'm looking for a way to use encoder information from motors that allow the wheels of my robot to be a line Circuit . After using a single light sensor after the robot line navigates and on my second lap, I want to know where it is in the circuit. I have read a lot about SLAM but I'm not sure I can apply it with robots and only with encoder information.

Any help and advice on the best way to deal with this would be greatly appreciated. N

You can use a model to predict your robot's movement. Assuming a vehicle with a favorite forward direction on a plane, you would have (x, y, theta) as your code, and then a state transition based on your encoder values Ho. What exactly does the function actually look like on your robot configuration I remember that there was a good coverage on this topic. You will find many examples on the net, though. Together, localization and mapping (SLAM) will be to use a potential odomockery model, and then there will be some correction based on your sensor. At first I thought it was not very viable with your setup, but I think it is really. Using overload-grid based RAW-Blackwelled particle filters, you can get some good results. I have not used it but have a look because it is a good place to start.

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