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I am doing project on odometry using raspberry pi. I know that encoder motor will tell me how much distance my robot has covered, but I have no idea ho to implement completely. I just need guideline about which steps to follow. Till now I have interfaced motor with raspberry pi and counted the number of rotation. I have questions as follow?
How to plot map of odometry using which language and library?
If you know anything, just give me guideline about steps to follow.
You could maybe use Matlab to plot the position of your vehicle? This is how I'm trying to do that: I have a 'logging'-program running on the Raspberry Pi that counts each sampling time the pulses from the encoders. This I log in a file. This file I upload in Matlab to calculate X and Y coordinate and the angle under which the vehicle is standing, assuming the vehicle starts at coordinate (0,0) and angle 0°. These are the formula's I use. With 'triangle'-r and 'triangle'-l I mean the distance traveled by left and right wheel (can be calculated using pulses in log file and diameter of the wheel). Distance '2L' is the distance between the 2 wheels.
I wrote a matlab GUI in which I can browse a data file (from the Pi), calculates the X and Y position every sampling period and plot this is an XY graph.
Ps: you didn't mention it, but I suppose you have a differential drive vehicle?!
$$\Theta_{k+1} = \Theta_{k} + \omega$$ gives $$\Theta_{k+1} = \Theta_{k} + \omega$$. You can also right click on any formula to see the code (Tex commands) that were used to create it. As this is close to Latex, it's a handy skill to have.
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– Bending Unit 22
Jul 31 '16 at 11:09
