RC Car managed by Java leJOS NXJ
This project tries to manage any RC Car which you can purchase in your city using a NXT brick and a Lattebox NXTe.
I am finishing a preliminar GPS navigation solution for leJOS project, but I have a problem to understand some value, azimuth.
In my tests I had some problems to understand the azimuth value which is returned by the method AzimuthTo in a Coordinates Object. AzimuthTo return an angle which is referenced with North pole.
In my tests I use a GPS point as goal:
I give you a GPS point which is located on the street where I did my tests:
If you make a line bettween the both points, the line is on the street but azimuth give a value 144º so if the robot change the course to angle 144, so the robot would leave the street. I don't understand how to use the value 144. Is it neccessary to make any trigonomical calculation to find the solution?
I have made a doc about the problem and some questions:
I made some videos about the system:
Do you have an alternative calculus to make the azimuth calculus?
Do you undertand my problem?
Today I begun to test my first GPS Navigator. Besides I have to improve the system which manage the steering maybe using PID or another technique...
If you take a look the prototype, I have uploaded some pics in my Flirck account:
This year I will use a new RC Car chassis, Maverick Strada model which I replaced some pieces, for example the speed controller. With this model, the place where is located NXT brick is more stable.
I have released a new gallery about this model:
NXTe allows me to control RC Servos and DC Motors easily. Currently I can go forward and backward. leJOS project has worked so hard to improve garbaje collector, to manage with NXT's CPU complex Java Programs.
I have released a new RC Controller. I am working on this tasks:
- Integrate GPS Subsystem
- Integrate Google Earth Support
- Improve autonomous subsystem
- Develop GPS Navigation
- Research Kalman Filter to make sensor fusion
I have published a map where you can see the place where I am doing the tests. I need a large area to test algorithms.
Further information here: http://www.juanantonio.info/jab_cms.php?id=228
Note: In my website, in the previous URL, it is possible to download a paper about the project.
Juan Antonio Breña Moral