LVPS Test Vehicle : The Observer
I call this first prototype the Observer, as it is simply a reference device, which I can use to help me run the positioning software, gauge its accuracy, and make software improvements, without the added complication of vehicle movement. It is for collecting observations about the LVPS system.
The handwritten drawing below shows the concept I had in mind for this simple-as-possible prototype. I didn't want to deal with tiny spaces, so I built the device in layers, and just bolted them all together at the end. It is pretty gigantic, but all the pieces are there, so I will be able to use this in proving out my positioning software.
It does lack any capability to move around on its own. However, it does have the ability to aim cameras with 360° unobstructed views, as requested by the positioning software. It also does have onboard 360° LIDAR, which will help me develop improved accuracy when LIDAR is available. It should also allow me to see live position and heading via the onboard LCD character display, and also has WiFi connectivity, so it is able to use the separately-hosted LVPS REST service for downloading maps and vision models, uploading images, and logging its position.
Fully Assembled
Remember, this vehicle is really just a host which is piloted by the LVPS “Pilot” system. The embedded code that controls servos and LIDAR is running on the Arduino Due.
