Using AD* to Path Plan and move NI Rover.

[sg1990]

Hello all!

We have been asked to Control a small rover programmed with Labview using the AD* path planning example. Te Rover will have to path plan its way from a starting box to a finishing box in a 6m x 6m grid.

The rover will be equipped with an ultrasonic sensor to detect any obstacles, encoders to calculate the distance the rover has travelled and its orientation. 

Currently we have set up a Boolean array to simulate the rover detecting an obstacle.   We have had to force it so that the obstacle appears in the diagonal. What we would like to know is, is it possible to have the rover perform a set of actions based on the path costs. 

For example if he rover decided that the most efficient method from moving from one grid cell to the next is in a diagonal fashion. based on the path cost it would send a signal to the encoders to tell the over how far it needed to rotate round. Then it would scan for objects and proceed on its path.

Hopefully I have explained this clearly enough.

[altenbach]

a *.lvproj file just points your various VIs and support files, but does not contain any code. It is not helpful unless you also include e.g. the source distribution (VIs, etc.).

[sg1990]

As you can se, we are absolutely terrible at this !

Here is the attached VI as it stands, we have been able to pick up an object with the ultrasonic sensor and put it into the map but it is now picking it up at a delayed rate