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资源说明：The beginnings of a (somewhat) self-aware robot. Currently, it's just a set of python files enabling the reading & interpreting of data from sensors, localization, and moving of the robot
#scibot The beginnings of a (somewhat) self-aware robot. Currently, it's just a set of python files enabling the reading & interpreting of data from sensors, localization, and moving of the robot. * _scibot.py_ is the start-up file, where everything branches out from * _sensors.py_ handles communications between the computer and the external sensors * _filters.py_ is a collection of filters (only one at the moment, though) for localizing the robot * _create.py_ is a python wrapper for the iRobot Create's serial interface. It's written by Zach Dodds et al. from the [Rose-Hulman Institute of Technology](http://www.rose-hulman.edu/class/csse/resources/Robotics/). Unlike the rest of the code, it is **not** under the CC BY 3.0 license * _hallway.png_ is the image out of which the map is built. Each pixel denotes a 1m² block where white ⇒ movable terrain, black ⇒ a wall ######Designed to work with * iRobot Create * Hokuyo URG-04LX-UG01 LIDAR sensor¹ * Analog Devices ADXR652 gyroscope¹ ¹should work with other sensors as well **Licensed under Creative Commons Attribution 3.0 Unported (CC BY 3.0)** http://creativecommons.org/licenses/by/3.0/ ______ ######as of 22nd September 2012 * LIDAR serial interface (which runs in a separate process for multitasking) gets a continuous stream of data from the sensor (using the MS command) and converts it into a left, forward, and right sensor readings * Gyroscope serial interface (which runs through the Create's analog port) handling the 90 degree rotations of the robot * Basic Mote-Carlo localization (histogram filter) implemented that localizes the robot over a map (including the four orientations of NESW) Together, this allows the robot to successfully drive around and localize itself in our hallway at home (see [hallway.png](https://github.com/ahrensmalte/scibot/blob/master/hallway.png)) ######as of 23rd September 2012 * There's now some debugging code that enables use with no robot, gyro, or lidar (just a computer is needed)
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