S. S. L. A. M. Update 2

Quick Overview

Hello, for those who haven’t seen this project yet, I am creating a new way to create SLAM for robotics. Usually, to create SLAM, people have to spend tens of thousands of dollars on LiDAR. However, for my rookie FRC team, I am going to use a stereo (camera) system to find the 3d position of objects.

What I Just Did

I added in more location-finding systems. As I said in the previous log, I am taking advantage of the Apriltags that will be positioned around the arena so that the robot can find its position on the field using a coordinate system and its angle of orientation. I am also in the process of making a pathfinding system that takes into account every obstacle on the field. The function would take an arbitrary coordinate as the target and compute the direct line from the robot to the target. If there is an obstacle in the way (Computed mathematically), the program will estimate an arc around the obstacle to the target.