Moving around

This category contains 13 posts


SLAM (Simultaneous Localisation And Mapping) is the process of building a map by sensing the environment surrounding a robot and at the same time using that map to locate the robot and navigate it. This topic has been something of a hot item in robotics research for many years and is a core technology used … Continue reading

GyroBoy in JAVA – leJOS EV3

GyroBoy is a self-balancing robot created by LEGO as a demonstration of what you can build with the EV3 LEGO Mindstorms education kit. The kit includes building instructions as well as a control program for GyroBoy developed in LEGO´s so called block-programming language. In this article I will present a similar control program developed in Java using the leJOS EV3 class library. Continue reading

Improving position tracking of a mobile robot

In a number of previous articles I’ve discussed a line following robot and the monitor program that runs on a PC to show the robot in action. This monitor program displays the position of the robot as it moves around the track. This position or Pose data is transmitted from the robot to the PC on a … Continue reading

Line Following & Cooperating Robots (part 1)

Following on from the series of articles about EV3 to EV3 communications I wanted to build some actual robots and have them cooperate, but I wanted to keep things simple and avoid the complexities of navigation and dealing with the environment as much as possible. I wanted to be able to concentrate on the cooperation side … Continue reading

LeJOS navigation: The Chassis

The next version of leJOS EV3 (the one after 0.9.0-beta) will bring a new addition the the navigation classes, the Chassis. It serves as an abstraction of the drivetrain of a mobile robot and translates movements of the robot into instructions to the motors. The Chassis encapsulates the the math involved in this process and makes … Continue reading

leJOS Navigation: Navigation model

This is the seventh in a series of posts on leJOS Navigation. This post is about the Navigation model. The navigation model is a way to integrate all the leJOS navigation features, and communicate with an application on the PC. The PC application typically shows your robot moving around in a mapped area, and lets … Continue reading

leJOS Navigation: Path finding

This is the sixth of a series of posts on leJOS Navigation. It describes how to do path finding. leJOS has a variety of path finders that all implement the PathFinder interface. The two most useful are ShortestPathFinder and NodePathFinder. Both of theses implementations require a line map of the environment. How to create this … Continue reading

leJOS Navigation: Mapping

This is the fifth in a series of posts on leJOS navigation. The first covered moving robot around using pilots, the second covered localization and pose providers, the third covered object detection and the fourth waypoint navigation. This post covers how to produce a static map the environment you are using for navigation. Such maps … Continue reading

leJOS Navigation: Waypoint Navigator

This is the fourth in a series of posts about leJOS navigation. The first dealt with moving the robot around using pilots, the second with finding out the robot’s location and heading using pose providers, and the third with detecting obstacles and other objects. This post deals with navigating using co-ordinates including following a series … Continue reading

leJOS Navigation: Object Detection

This is the third of a series of posts on leJOS navigation. It covers object detection. We first looked at pilots that move your robot around. We then found that you could easily add localization to your navigation application and keep track of the robot’s position and heading. Another thing that you are likely to … Continue reading

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