This program is used for autonomous navigation of the mobile robot.
InputFile : test1.txt (MAP for the autonomous navigation indicated by plane cordinate (X,Y). Made from measurement(https://github.com/shutokawabata0723/GPS) or GoogleMap(https://github.com/shutokawabata0723/Convert-GoogleMap-into-database)
MainProgram : navigation.c (Execute the autonomous navigation)
SubProgram : DGPS.c (Calculate the position of the mobile robot and convert the postioning data into plane cordinate)
OutputFile : test2.text (Trajectory of the autonomous navigation)
https://github.com/shutokawabata0723/Autonomous-Navigation-System/blob/master/autonomous.pdf released March 2017
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Prepare the mobile robot and the DGPS (USB Cable, Power, PC)
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Compile and execute DGPS.c
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Complie and execute navigation.c
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The mobile robot achives the autonomous navigation by approaching the targets(waypoints) from start to the goal
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The robot mainly calculates its position by encoder connected to right and left wheels.
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If the distance between the robot and the target is less than 0.5m, change target to next waypoint.
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In order to modify the positioning error caused by wheel slippage, we use DGPS(Differential Global Positioning System).
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The DGPS's positioning data is shared with MainProgram(navigation.c) by share memory.
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Hemisphere A101 is used as the DGPS (https://hemispheregnss.com/Products/Products/Position/a101e284a2-smart-antenna-758)
CopyRight (c) 2018 Shuto Kawabata
Released under the MIT licence
https://opensource.org/licenses/MIT
Shuto Kawabata