After spending a few years trying to program my robot to
automatically navigate, I started searching the internet
for tutorials and information. I was referred to papers
written by PhD's and Masters, college students who have
years of experience in complicated math.
I don't have the understanding of much above algebra
and geometry. I spent months looking through these papers,
and began to understand the logic in them.
I started to implement what I learned in software on my
robot. Day by day, my robot showed more and more
"intelligence", and started to behave like a small pet.
I could get it to begin searching through my house to
gain memory of the floorplan and make a map. I started
adding abilities to the software, and could command the
robot to go to a specific spot in a room, and return
to where I gave the command.
I wrote a tutorial for myself. The information that I
was able to extract from the papers on the internet was
put into easily understood charts, graphs, and drawings.
The more of the tutorial I wrote, the more I understood
how to make my robot navigate and map by itself.
My robot will now automatically map any house (including
multiple floors if there is a lift or elevator), return
to it's charging station, accept a command to go to a
specific location and return to the spot where the
command was given, and several other intelligent appearing
This book tells you how to represent space in software,
and how to manipulate, search, and navigate within it.
During the writing of the tutorial, I programmed a
simulator to test the software in. The simulator allowed
me to test navigation software on my PC before I loaded
it into the Robot for testing. This speeded development
and increased my understanding of many parts of the
There is an optional CD with animations, drawings, videos,
audio files, and animations of the programs described
in the tutorial. You can watch the software (logic, and
"psuedocode" in the text) run step by step.
The information applies specifically to a mobile computer
with sonar and bumper sensors. It is assumed that you
have all of your hardware drivers coded already. You must
have programming experience and a basic understanding of
math and logic to put the logic into actual code. Very
little effort is required to transfer the psuedocode into
BASIC or C language.
This tutorial is approximately 100 pages, printed on
8.5" X 11" paper, and comes in a spiral notebook.
email firstname.lastname@example.org for more information
$40 isn't the official price,
I've printed a hard copy and will proof read 1 more time
before I ship.
The decision has been made to remove the BASIC and C code,
as it turned out easier for beta-readers to code the software
with psuedo-code only.
It has also been decided to split the "Localization" chapter
into a seperate book.
Shipped from Sacramento, California, "United" States.