On 11/19/2010 08:16 PM, Paddy wrote:
I am having a segmented data (x,y,z)
corresponding to the floor (indoor environment) in front of the
robot from Swissranger SR-3000 sensor. I would like to know how
can i use this data to plan a path from point A to B (Assuming
both are on the same segment ) using Player.
I am not sure in what way i should provide the data such that
the player can plan a path accordingly.
I am familiar with vfh, amcl, wavefront drivers and have
written some basic codes in simulation (player-stage), but the
simulations uses Sick-LMS laser scanner as the input sensor.
I would like to achieve similar results using the real data
Your suggestions regarding the implementation steps would be
The first way I can think of to achieve what you want to do is to
somehow create a gridmap from your swissranger measurements. You'll
have to be able to look at your measurements, find where the
obstacles are on the floor, and translate the obstacle positions
into real (x,y) positions from your robot.
If you can reliably convert swissranger scans into (x,y)
coordinates, you might be able to create a driver that generates a
fake laser scan, which looks at the swissranger data and creates a
laser "hit" where a laser would hit an obstacle (somehting on the
floor, wall, etc). With this synthesized laser scan, you could
generate an occupancy grid using something like mricp, and then use
the amcl/wavefront/vfh stack with almost no modification.
Of course, this isn't the only way to do things: you could roll your
own map generator, eschew global planning and use vfh directly,
etc. Hopefully it gives you some ideas on how to move forward.