This tutorial will demonstrate how to do mapping and navigation with the iRobot Create for under $30! And better yet, its designed to be an easy add-on to your
already existing robot (butler robot, anyone?).
Why is mapping useful? Have you ever wanted your robot to navigate through your house, by starting in one room and going in to the next, despite unplanned objects in the way? Ever wanted your robot to go to the fridge, navigate around pizza boxes, and then go straight to you before
the beer gets hot?
This tutorial has two parts
. The first part
demonstrates how the Create can track and follow objects (specifically, a can of beer) using a single Sharp IR. Video in step 5
The second part
demonstrates mapping, and how it can update its map when objects get in the way. Its not just reactive wandering, but planned navigation useful for any house based robot. Video in step 6
Plans and source code to add to your robot will follow.
So what do you need?Sharp IR
$14.50http://www.acroname.com/robotics/parts/R48-IR12.htmlHitec HS-311 Servo
$8.99http://www.servocity.com/html/hs-311_standard.htmlGrid-Style PC Board with 356 Holes
$1.79http://www.radioshack.com/product/index.jsp?productId=2102844&cp36 position breakaway male header
Stuff you probably have:
solder with soldering iron
double sided sticky tape
two screws with two matching nuts
screwdriver or allen wrench
holepuncher or hand drill
(local hardware store or Radioshack)
Optional: Dremel to cut down the PC Board
Final Design (simplicity at its best):