I have entered a firefighting robot competition which is similar to the famous Trinity College one. The robot must conduct a search of rooms in a known map with a known starting position.
My thought was that I could use some sonar or IR sensors along with encoders on the robot, and use ROS via XBee to a PC to localize the robot and publish the necessary cmd_vel to control the motors. I have already gotten teleop with a joystick to work (which is good news, my kids will be able do to their part of the competition). However, as I sit and wait for parts to arrive, I am wondering if my solution has any chance of working. Is the navigation stack on ROS fast enough to keep up with a speedy little robot? Will it do a decent job on localization if don't have a laser scanner or Kinect? I do know the map and the starting position.
I know that Fergs is a prior Trinity winner and he used wall following as his primary form of navigation. Perhaps a combination approach of that with ROS doing corrective localization would work? Or is this a completely crazy idea.
I realize this is largely a "try it and see" type of situation, but I'd welcome any comments or advice.
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