GPS library-ish code
They have GPS libraries for Arduino which are fun to play with but not too easy for some one like me to try and make a UGV with. I think it would be a cool idea for diy drones to have code that would just give like distance to your next GPS point and heading needed. You know, a code without all the sensors and outputs but with just the part in figuring out what is needed to get to the next GPS point. I do not know if i am the only one who would like this but there might be others. Or is there is simple mod for some of the current code that could do this?
Replies to This Discussion
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Permalink Reply by Doug Weibel on -
Hi Patrick - sounds like you (intentionally or unintentionally) have a gain value you need to lower in your scheme.
You will have a bearing to the waypoint and a ground course heading. Your steering input should be based on the difference between them and scaled by a constant value (the gain). This is a P (proportional) controller. You can increase the complexity to a PI or a PID controller for better performance, and even move beyond that to track following and PID. Do a little research on PID control and track following ;)
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Permalink Reply by Patrick Mccabe on -
Will do. Trying to find that tutorial i had found one day but did not read through it. Matter in fact my maze solving robot code might help me, i did have some proportional control in it. It also seems like i might want to have a given amount of sway on my course heading. Maybe a few degrees that as long as it is with that amount then it is following the course, but at the end i would suppose that it may be too much off the waypoint. Maybe i could decrease the amount of leniency the closer i get to the waypoint. Now when i think about it, kinda sounds like the definition of P control.
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Permalink Reply by Patrick Mccabe on
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Tried the code today outside by walking. It was able to guide me to the waypoint by serial printing to turn left or right and how far i was to the point. Still not accurate or reliable enough to guide a robot. The distance measures started to get messed up when i got close to the waypoint and stayed still.
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Permalink Reply by Patrick Mccabe on
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I noticed online that almost all the vehicles in the AUV contest had a compass module, is this really needed? I guess it is hard to turn from one waypoint to another with out it?
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Permalink Reply by Patrick Mccabe on
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Here is some info on the AGV i am making and a test video of it going to its first GPS waypoint. http://letsmakerobots.com/node/18922
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Permalink Reply by Patrick Mccabe on
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Here is some info on the AGV i am making and a test video of it going to its first GPS waypoint. http://letsmakerobots.com/node/18922
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Permalink Reply by Bill Porter on -
Hey Patrick,
Do you live near the Florida Pan-handle? I ask because that's where I live, and I am just finishing up my own UGV, SAGAR.
More here: http://www.billporter.info/?cat=11
To answer you last question, yes, you need a magnetic compass. You will also need at least a PD control system
Feel free to send me a message and I'll send you an email if you want some further help on your project.
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Permalink Reply by Patrick Mccabe on
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No i live near Tampa, Florida. I ordered a compass that should be here Saturday (i believe it is the same compass you are using) and then i will start on my PD control system and adding the functionality of multiple waypoints. Ah yes, i was looking at your blog the other day. After the test run today i am going to get a better motor controller chip that can deliver more current and am going to make a battery pack with more current. But so far so good, ill email you any questions that may come about.
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Permalink Reply by Scotty on -
to answer your original post; I know of one library that does exactly what you are asking, the NMEA library, by Maarten Lamers, can be found here. I know it says it's for wiring, and might not work on arduino, but i had it running smoothly on arduino IDE 0015, along with a 328 duemilanove. It doesn't work right now under IDE 0018, but it would be nice....
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Permalink Reply by Scotty on
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i got it working, let me know if you want the corrected NMEA.h file. It compiles but i'm not sure if it works properly, as i havn't had time to test it.
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