Waypoint Navigation Design
ram: these are my notes on how I see waypoint navigation working. See also
Martial's
waypoint design writeup (MS-word format) which talks about flat-earth
projection and path following, and has some helpful pictures.
The main differences between this and the previous design are the integration
of visual servoing into the waypoint framework and the detailed examination of
how stereo range information is used. The algorithm is also expressed in a way
that generates the right behavior without extensive case analysis.
Basic Concepts
The actual waypoint is the actual 3D destination point that the operator
was seeing when they designated the waypoint. A projected waypoint is
a potentially unreliable determination of the actual waypoint.
Since we don't know the terrain, all that we are able to extract from 2D
designated pixel is a designated ray. This ray is composed of the base
point where the waypoint was chosen and a vector indicating the 3 D-O-F
direction of the actual waypoint.
Waypoint Navigation Algorithm
The waypoint navigation driving cycle can be divided into three steps:
- visual servoing
- If a waypoint has servoing information, and the template is currently being
tracked, then update the waypoint designated ray to be the current pose and
current template direction.
- waypoint projection
-
Waypoint projection uses one of several techniques to project the waypoint at
some range along the designated ray. [details]
- waypoint seeking
- Waypoint seeking is the process of taking the projected locations of the
waypoints and using this information to determine the steering direction and
stopping place. [details]
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