robotics Advanced VFH

[pratik123]

hello ,

i need help in my project.

i am developing obstacle avoidance using advance vfh and i am using ultrasonic sensor with sbrio starter kit and in advance vfh i got vx , vy and command heading now i want how to calculate velocity setpoint which is given to appply velocity to motors.vi so that robot would avoid obstacle and reach to the target...

thanking you

[Jokelnice]

HI.
I'm also finishing a project, and I am using this algorithm "VFH Advanced". I let me ask you some Suggestions:

1. The algorithm "Advanced VFH" has as inputs to the system, in addition to the signals from the ultrasonic sensor and the Servomotor, the entry for the "estimated steering frame posture." Do you already have this information?.

2 . If you already have this information and your algorithm "Advanced VFH" already works, you need only enter those values to "apply velocity to motors.vi" through a "Build Array". Personally I recommend that you carefully observe the example "Dead Reckoning.lvprog" found in the. "Find Examples". This example is very useful, because when you already have the "vx, vy and command heading" only have to replace some terms of this example. ( see the image attached ).

3. . I recommend that you check the following examples which are in "Find Examples" to understand the workings of this algorithm.:
    - "Youbot Grab.lvproj".
    - "Simulated Mecanum Robot.lvproj".

Regards

[pratik123]

Yes i have already have information of estimated steering posture..

i already have study of dead rocking example..

and i am using sensor distance and sensor angle as in roming vi example of starter kit.

and i also know Simulated Mecanum Robot.lvproj 

but in Simulated Mecanum Robot.lvproj after getting vx , vy and command heading thay have procees this things to get wheel velocity and wheel angle which i don't understand.

how to calculate the velocity for starter kit 2.0 from vx , vy and command headning

..

[Jokelnice · Accepted solution]

When you already have VX, Vy and command Heading, what you need to do is a PID control.

1. setpoint : "command Heading",
2. process variable : "current heading" you get with the information "estimated steering posture". ( see attached ).

[pratik123]

thanx 

for your quick reply..

now i get idea from your suggestion.

if i will have dout then i will ask you...

[pratik123]

i have one problem relating to the accurate position

when i give particular taget position then it never reachs to that but it always less then that and one another problem is that if i give it  (x,y) = (2m , 2m) then it should have 45 degree angle but it have 49 degree when reaches to goal.

i use estimate posture from velocity.vi to take position is there any other way to take position of robot.

thanking you