12. Autonomous Navigation
Based on your skill level, there are beginner and advanced solutions for navigation and object avoidance. This page provides details and links to various navigation solutions that fit your robot's requirements and budget.
This video tutorial shows you how to add navigation with waypoints to a robot using a 360-Degree Lidar. This same result can be achieved using ARC's Lidars on any robot with a movement panel.
Navigation solutions range from low-cost single sensors to 3D depth cameras and 360-degree lidars. You can decide what type of sensors to add to your robot and choose the appropriate robot skills.
1. Simple Object Avoidance
The simplest and lowest-cost navigation method uses distance sensors to avoid walls and other objects in the robot's path. This can be done with a single sensor or several sensors. Popular sensors for this simple solution are Ping Ultrasonic and IR Distance.
2. Autonomous Navigation
ARC contains a messaging system for navigation called the Navigation Messaging System (NMS for short). While there are many navigation sensors, they vary in cost and accuracy.
ARC's most popular SLAM for autonomous navigation system is The Better Navigator, which can navigate between stored points. The Better Navigator takes the average 3D point of a set of waypoints and uses that to navigate. The sensor data input type is essential for The Better Navigator to perform the desired operation. We recommend combining a 360-degree lidar with The Better Navigator robot skill. See the list below for supported Lidars, depth cameras, and many other navigation robot skills.
SLAM Navigation Robot Skills
Here is a list of ARC robot skills for navigation, including autonomous navigation and remote control. In many cases, it may be necessary to combine autonomous navigation with remote control if the robot gets stuck. Another option is to use Exosphere and have the robot request user assistance when it gets stuck.
Have your robot navigate using a GPS to waypoints and paths.
Use an overhead camera to track the pose location of a robot for localized navigation.
SLAM for the ARC NMS
NMS Driver for the Hitachi-LG LDS 360 degree lidar.
The indoor positioning system is a combination of IR transmitter and IR dual camera receiver. The IR transmitter is mounted on your robot, and the IR dual camera receiver is placed in a corner of the room.
Connect the D435i Intel Realsense depth cameras to the ARC navigation messaging system (NMS) for distance detection and mapping.
Use the Intel Realsense T265 tracking camera for way-point robot navigation
Use the microsoft xbox 360 connect to send navigation/obstacle information into the ARC NMS (navigation messaging system)
An example project with source code that demonstrates how to create an NMS Level #1 navigation robot skill.
Generate estimated pose odometry based on the travel distance of the movement manager.
Pineapple Technology Industries plugin for the Capstone project
NMS Lidar driver for Slamtec RPLidar A1
Improved version of The Navigator based on Hector SLAM, with more features and path finding.
A navigation skill for path planning based on receiving external location and obstacle data
Wavefront path planning Navigation (shortest path to destination)
Compatible with firmware that counts wheel rotation for left and right wheels with wheel encoder.
Run the Neato Robotics XV-11 LIDAR on your robot.