Sophie

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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>snd<br/>
<small>
[<a class="el" href="group__drivers.html">Drivers</a>]</small>
</h1>  </div>
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<div class="contents">

<p>Smooth Nearness Diagram Navigation.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>Smooth Nearness Diagram Navigation. </p>
<p>This driver implements the Smooth Nearness Diagram Navigation algorithm, an improvement over the nd driver that removes oscillatory patterns and improves overall driver performance.This algorithm handles local collision-avoidance and goal-seeking and is designed for non-holonomic, non-circular robots operating in tight spaces. The algorithm is in the following paper:</p>
<p>Durham, J. ; Bullo, F. "Smooth Nearness-Diagram Navigation" 2008, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008, 690-695</p>
<p>This driver reads pose information from a <a class="el" href="group__interface__position2d.html">position2d</a> device, sensor data from a <a class="el" href="group__interface__laser.html">laser</a> device and/or <a class="el" href="group__interface__sonar.html">sonar</a> device, and writes commands to a <a class="el" href="group__interface__position2d.html">position2d</a> device. The two <a class="el" href="group__interface__position2d.html">position2d</a> devices can be the same. At least one device of type <a class="el" href="group__interface__laser.html">laser</a> must be provided.</p>
<p>The driver itself supports the  interface. Send <a class="el" href="group__interface__position2d.html#gaf0801065c6a46fda7e2734be3528911c">PLAYER_POSITION2D_CMD_POS</a> commands to set the goal pose. The driver also accepts <a class="el" href="group__interface__position2d.html#gacaf0b14c255b47d09fef5efd7dd0fb22">PLAYER_POSITION2D_CMD_VEL</a> commands, simply passing them through to the underlying output device.</p>
<p>This driver commands the underlying  simply in velocity, so it's suitable to be used on the robots for which the GoTo() function is not yet implemented (e.g.: the <a class="el" href="classErratic.html">Erratic</a> robot).</p>
<dl class="user"><dt><b>Compile-time dependencies</b></dt><dd></dd></dl>
<ul>
<li>none</li>
</ul>
<dl class="user"><dt><b>Provides</b></dt><dd></dd></dl>
<ul>
<li><a class="el" href="group__interface__position2d.html">position2d</a></li>
</ul>
<dl class="user"><dt><b>Requires</b></dt><dd></dd></dl>
<ul>
<li>"input" <a class="el" href="group__interface__position2d.html">position2d</a> : source of pose and velocity information</li>
<li>"output" <a class="el" href="group__interface__position2d.html">position2d</a> : sink for velocity commands to control the robot</li>
<li><a class="el" href="group__interface__laser.html">laser</a> : the laser to read from</li>
</ul>
<dl class="user"><dt><b>Configuration requests</b></dt><dd></dd></dl>
<ul>
<li>all <a class="el" href="group__interface__position2d.html">position2d</a> requests are passed through to the underlying "output" <a class="el" href="group__interface__position2d.html">position2d</a> device.</li>
</ul>
<dl class="user"><dt><b>Configuration file options</b></dt><dd></dd></dl>
<ul>
<li>robot_radius (meters)<ul>
<li>Default: 0.25 (m)</li>
<li>The radius of the minimum circle which contains the robot</li>
</ul>
</li>
</ul>
<ul>
<li>min_gap_width (meters)<ul>
<li>Default: 2*Robot radius</li>
<li>Minimum passage width the driver will try to exploit</li>
</ul>
</li>
</ul>
<ul>
<li>obstacle_avoid_dist(meters)<ul>
<li>Default: 4*Robot radius</li>
<li>Maximum distance allowed from an obstacle</li>
</ul>
</li>
</ul>
<ul>
<li>max_speed (meters/s)<ul>
<li>Default: 0.5</li>
<li>Maximum speed allowed</li>
</ul>
</li>
</ul>
<ul>
<li>max_turn_rate (radiants/sec)<ul>
<li>Default: 60 degrees</li>
<li>Maximum angular speed allowed</li>
</ul>
</li>
</ul>
<ul>
<li>goal_position_tol (meters)<ul>
<li>Default: Robot radius/2</li>
<li>Maximum distance allowed from the final goal for the algorithm to stop.</li>
</ul>
</li>
</ul>
<ul>
<li>goal_angle_tol (radiants)<ul>
<li>Default: 30 degrees</li>
<li>Maximum angular error from the final goal position for the algorithm to stop</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Example</b></dt><dd></dd></dl>
<div class="fragment"><pre class="fragment">
driver
(
  name "snd"
  provides ["position2d:1"]
  requires ["input:::position2d:0" "output:::position2d:0" "laser:0"]
  robot_radius 0.24
)
</pre></div><dl class="author"><dt><b>Author:</b></dt><dd>Joey Durham (underlying algorithm), Luca Invernizzi (driver integration and documentation) </dd></dl>
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Last updated 12 September 2005 21:38:45
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