Robot Navigation with a Particle Filter

As robots become smarter, faster and more capable, they are being developed to perform increasingly complex tasks. In order to perform these tasks properly, robots are becoming more and more dependent on accurate navigation through the environment in which they operate. Somewhere in the future, if intelligent robots were to rise up and demand fundamental rights, I think one of the first things they would ask for is the answer to the question, “Where am I?”.

Where am I?

Where am I?

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Gyroscopes, Accelerometers and the Complementary Filter

How Balance Works:-

In teaching a robot how to stand straight and not fall over, we need to understand how balance really works. Balance is something we take for granted in our daily lives, most of us are actually pretty good at it, until we have had a little too much to drink.

Here is how I think balance (writ easy) works:

1. We need a sensor that tells us how ‘upright’ we are standing. In humans, this sensor is located in the inner ear. In a robot, we could use a sensor like the MPU6050 which can be used to provide tilt in two axes just by directly reading from its registers.

MPU6050 from Invensense. 6 DOF sensor that can be used to determine attitude

MPU6050 from Invensense. 6 DOF sensor that can be used to determine attitude

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