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

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

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]