18 years ago
I am considering making my partly completed project
open source, but I do not wish to do this if no one
else is interested. The benefits of open source
include more extensive testing, other opinions about
design, and possibly help with programming.
The project is a control system for an autonomous
guided vehicle. It is spread over several processors
networked together over ethernet and ACE/TAO corba.
The basic system orientates itself with respect to
known visual markers, which are observed by a number
of cameras (typically 4 each on seperate computers).
A scaat Kalman filter is used to work out the vehicle
position in 3D (on a seperate computer). Another
computer controls and monitors the vehicle controls.
Most of the computers run Linux, but some would be
better run on RTEMS. Opencv is used for the image
processing. It is written in C++ on GNU/Linux.
People who want to work on autonomous robots (perhaps
by remembering interesting features in the
environmemt) could use this system as a base on which
to add intelligence. If other systems had laser,
radar or sonar instead of cameras, these could
probably replace the cameras with little change to
the rest of the system.
Is there a similar project out there? Is anyone
interested, any comments, questions, suggestions,
flames are welcome.