I have about 300 pages of step by step tutorial on autonomous robot navigation.
I explain how to use an occupancy grid for representation of robot's memory of space. How to automatically navigate a floorplan until all areas have been explored and entered into the robots memory. How to command the robot to go to a certain location on the map, by coordinates or area label.
It includes background information and can be understood and implemented by a high school student who does not have a math background.
Includes definitions, drawings, charts, graphs, program logic, psuedo-code, flow charts, sample program execution charts. Interpretation of sonar data, localization within previously mapped areas.
I wrote this while researching and programming my robot's navigation system.
With 1 sonar sensor mounted on a mobile wheeled platform, I am able to map any floorplan in 2 dimensions.
Includes source code (psuedo code) for easy translation into any programming language.
any interest?
Rich