{"id":95,"date":"2007-08-09T20:49:47","date_gmt":"2007-08-10T03:49:47","guid":{"rendered":"http:\/\/blog.orbswarm.com\/2007\/08\/09\/path-smoother\/"},"modified":"2019-11-03T15:43:52","modified_gmt":"2019-11-03T22:43:52","slug":"path-smoother","status":"publish","type":"post","link":"http:\/\/blog.orbswarm.com\/2007\/08\/09\/path-smoother\/","title":{"rendered":"Path Smoother"},"content":{"rendered":"<p><a href=\"http:\/\/blog.orbswarm.com\/wp-content\/uploads\/2007\/08\/pastedgraphic.png\" title=\"pastedgraphic.png\"><img loading=\"lazy\" src=\"http:\/\/blog.orbswarm.com\/wp-content\/uploads\/2007\/08\/pastedgraphic.thumbnail.png\" alt=\"pastedgraphic.png\" class=\"imageframe\" align=\"right\" height=\"135\" width=\"200\" \/><\/a>i&#8217;ve made progress on the path smoother.\u00c2\u00a0 it takes a path made from a few points and converts it into a smoothed path (using cubic curves) and waypoints along that smoothed path with times and velocities associated with the waypoints.\u00c2\u00a0 the waypoints are all the same distance from each other in time.\u00c2\u00a0 the roundedness of the curves is adjustable as it<a href=\"http:\/\/blog.orbswarm.com\/wp-content\/uploads\/2007\/08\/pastedgraphic1.png\" title=\"pastedgraphic1.png\"><img loading=\"lazy\" src=\"http:\/\/blog.orbswarm.com\/wp-content\/uploads\/2007\/08\/pastedgraphic1.thumbnail.png\" title=\"pastedgraphic1.png\" alt=\"pastedgraphic1.png\" class=\"imageframe\" align=\"left\" height=\"200\" width=\"185\" \/><\/a> the acceleration profile.\u00c2\u00a0 in some cases the path comes up a little short &#8211; due to inaccuracies in guessing when to start slowing down.\u00c2\u00a0 in any case good enough for now.\u00c2\u00a0 my test images are kinda fun so i thought i&#8217;d pass those along.<\/p>\n<p>-trebor<\/p>\n<p>a good one.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>i&#8217;ve made progress on the path smoother.\u00c2\u00a0 it takes a path made from a few points and converts it into a smoothed path (using cubic curves) and waypoints along that smoothed path with times and velocities associated with the waypoints.\u00c2\u00a0 the waypoints are all the same distance from each other in time.\u00c2\u00a0 the roundedness of [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"jetpack_publicize_message":"","jetpack_is_tweetstorm":false,"jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":[]},"categories":[1],"tags":[],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":35,"url":"http:\/\/blog.orbswarm.com\/2007\/05\/07\/progress-rolling-along\/","url_meta":{"origin":95,"position":0},"title":"Progress! Rolling along&#8230;","date":"May 7, 2007","format":false,"excerpt":"So Mike spent the weekend upgrading the shell and last night we drove it around some more. It's getting there! Much smoother rolling and more robust. It was good to see how well it would stop and start. The drivetrain is working really well, though the steering has some issues.\u2026","rel":"","context":"In &quot;Progress&quot;","img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":192,"url":"http:\/\/blog.orbswarm.com\/2008\/09\/22\/autonomy-well-that-just-kinda-worked\/","url_meta":{"origin":95,"position":1},"title":"Autonomy: well that just kinda worked","date":"September 22, 2008","format":false,"excerpt":"Trebor writes: tonight mike and i spent some quality time with orb 2. \u00c2\u00a0it went well. \u00c2\u00a0\u00c2\u00a0 in the attached image, the input targets are black dots, the generated smooth path is in red, and the measured orb path is in green. \u00c2\u00a0more images can be found here: \u00c2\u00a0\u00c2\u00a0 \u00c2\u00a0http:\/\/wiki.orbswarm.com\/index.php?title=AutomonyImages\u2026","rel":"","context":"In &quot;Progress&quot;","img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":179,"url":"http:\/\/blog.orbswarm.com\/2008\/08\/15\/orbs-following-a-path\/","url_meta":{"origin":95,"position":2},"title":"Orbs Following a Path","date":"August 15, 2008","format":false,"excerpt":"From Mike Prados tonight, Niladri and I started the dispatcher program, detached the ethernet cable, and removed our stuff to a respectable distance from orb 1 on the soccer field.\u00c2\u00a0 It then spent a minute figuring out the initial bias on its sensors, and started rolling.\u00c2\u00a0 It turned left and\u2026","rel":"","context":"In &quot;Progress&quot;","img":{"alt_text":"","src":"https:\/\/i0.wp.com\/blog.orbswarm.com\/wp-content\/uploads\/2008\/08\/overhead-298x350.jpg?resize=350%2C200","width":350,"height":200},"classes":[]},{"id":157,"url":"http:\/\/blog.orbswarm.com\/2008\/05\/11\/burning-man-update\/","url_meta":{"origin":95,"position":3},"title":"Burning Man Update","date":"May 11, 2008","format":false,"excerpt":"The push for Autonomy continues! The plan is that SWARM will be dancing -on its own- at Burning Man at the end of August. That means GPS and inertial measurement systems will work with control software and dance software to.... well... DANCE! Here's an abbreviated update that we recently sent\u2026","rel":"","context":"In &quot;Progress&quot;","img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]},{"id":27,"url":"http:\/\/blog.orbswarm.com\/2007\/04\/27\/prototype-progress\/","url_meta":{"origin":95,"position":4},"title":"Prototype Progress","date":"April 27, 2007","format":false,"excerpt":"Here is a diagram of the orb prototype so far-","rel":"","context":"In &quot;Progress&quot;","img":{"alt_text":"Prototype Diagram","src":"https:\/\/i0.wp.com\/blog.orbswarm.com\/wp-content\/uploads\/2007\/04\/diagram_20070427.jpg?resize=350%2C200","width":350,"height":200},"classes":[]},{"id":41,"url":"http:\/\/blog.orbswarm.com\/2007\/05\/07\/our-wiki-and-source-code-is-open-to-the-world\/","url_meta":{"origin":95,"position":5},"title":"Our Wiki and Source Code is Open to the World","date":"May 7, 2007","format":false,"excerpt":"All us SWARMies are happy to announce that we have made our wiki and our source code available to the world! We are making this available in the spirit of progress and sharing. Go ahead, take a look under the hood! We've licensed the entire project under the Creative Commons\u2026","rel":"","context":"In &quot;Progress&quot;","img":{"alt_text":"","src":"","width":0,"height":0},"classes":[]}],"jetpack_shortlink":"https:\/\/wp.me\/p5dyZ-1x","_links":{"self":[{"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/posts\/95"}],"collection":[{"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/comments?post=95"}],"version-history":[{"count":1,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/posts\/95\/revisions"}],"predecessor-version":[{"id":314,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/posts\/95\/revisions\/314"}],"wp:attachment":[{"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/media?parent=95"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/categories?post=95"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/blog.orbswarm.com\/wp-json\/wp\/v2\/tags?post=95"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}