08-23-2012 01:25 PM
I am using the Hokuyo URG-04LX LIDAR sensor for obstacle avoidance with the Simple VFH VI for calculating gaps. However I am encountering two major problems.
1. At an angle of 90 degrees my forward linear velocity is zero. This velocity is calculated by the Drive Towards Gap VI and I don't understand the formula for calculating the forward linear velocty was derived. Can anyone provide assistance?
2. The LIDAR sensor provides a lot of range data at a fast rate. When I input the array of data directly into the VFH VI the distance to the nearest obstacle is often seen as zero and hence the robot iconstantly reverse. I am not sure how to solve this problem.
08-24-2012 07:59 AM
Hi PB,
Thank you for your post.
I require a little more information about your system. Would it be possible to send the relevant sections of your code, or at least a screenshot so I can take a lot at what is going on?
Are you using the Hokuyo sensor drivers to pass data from your LIDAR? How have you configured the data transfer?
Thank you,