Re: [Playerstage-developers] MRICP driver

[Toby C. <tco...@pl...>]

Hi,
Sorry for the delays, I have added this driver to CVS, I had to make some
modifications to make it build with recent changes to player (and in the
player source tree). Thanks for sharing your work, are you able to check out
the latest player and check whether it is functioning correctly, i was only
able to perform simple tests and it seems that some things may have been
broken with the updates and/or with recent player changes.

Toby

On 28/08/2007, Tarek Taha <ta...@en...> wrote:
>
> Hi all,
>
>   I would like to share with you a driver we developed for online map
> building using MRICP (map reference ICP) algorithm. It was used in last
> year's "Search and Rescue" competition in which we managed to get good
> results (2'nd) place for the autonomous section. This driver is compatible
> with player 2 and is intensively tested and debugged and is currently in a
> stable conditions and thus i want other users to benefit from it's many
> functionalities. In Summary :
>
> The driver requires at least one laser interface, and optionally a
> position  interface (the latter is required if you actually want to drive
> the  robot via this driver).  The driver provides a position interface
> which  returns the position of the robot in the current patch as calculated
> by mricp.
>
> Specifications / Operation
> - Upon start, the driver initializes the initial pose to [0 0 0] m,m,rd
>
> - When the driver recieves a PLAYER_POSITION_RESET_ODOM_REQ configuration
>   request, it:
>   1- Saves the current map patch and starts a new one.
>   2- Raves the pose of the new patch in respect to the old one.
>   3- It resets the Robot pose to[0 0 0].
>   4- Resets the Occupancy grid probability and assumes all the cells
> unknown.
>
> - The driver saves the information about the map patches and their
> position relative to the previous patch map_path/map_configs.txt where
> map_path is the path of the directory to contain the maps specified in the
> driver configuration file.
> - The driver computes the Occupancy Grid using Bayesian probability
> update. It computes the uncertainty in the sensor readings and uses the
> prior knowledge of each cell to get the postirior (new estimation) of the
> cells state.
>
> This driver can be downloaded from :
> http://www.tarektaha.com/research/download.php?view.23
>
> The driver is reasonably documented and with few examples and logs, feel
> free to request any more details if needed.
>
> ======================================
> Tarek Taha
> Doctoral Candidate
> Centre for Autonomous Systems
> University of Technology, Sydney
> ph: +61 2 9514 3147
> mobile: +61 433 292 432
> ======================================
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