[ODE] Laser range finder

[Ivan Tanev]

Hi Shamyl,

Thank you very much for providing links to snapshots of your creature. It 
seems quite nice. Good luck with your new terrain engine!

Some movies of my snake are available at:
http://isd-si.doshisha.ac.jp/itanev/Sidewinder_mov.htm

and snapshots, including Laser Range Finders (at the bottom of the page) are 
here:
http://isd-si.doshisha.ac.jp/itanev/Sidewinder_pic.htm

As you might see, because of the nature of sidewinding locomotion, sensing 
the environment seems to be tricky: sometimes the ray shots at the obstacle, 
sometimes at the ground, sometimes at the creature's body, and sometimes at 
nothing...But, sure, in order to solve this issue I needed to implement the 
Laser Range Finders first, and thank you, and all the guys who responded for 
your help.

I used the XML-based genetic programming framework to automatically evolve 
the (fastest possible) locomotion gaits of snake:
http://isd-si.doshisha.ac.jp/itanev/XGP_pic.htm

Sincerely,

Ivan

----- Original Message ----- 
From: "Shamyl Zakariya" <shamyl at zakariya.net>
To: "Ivan Tanev" <itanev at mail.doshisha.ac.jp>
Cc: "ODE mailing list" <ode at q12.org>
Sent: Thursday, September 30, 2004 4:16 AM
Subject: Re: [ODE] Laser range finder


> I'm glad to hear it!
>
> My quadruped is also autonomously exploring thanks to range-finder input 
> for collision avoidance... though I've taken a short break from the AI to 
> develop a better environment using dGeomTrimesh + heightmapping + LOD so 
> my powerbook doesn't meltdown.
>
> Here you can see it after it was allowed to randomly explore a *simple* 
> environment for a while
> http://home.earthlink.net/~zakariya/files/Wandering.png
>
> Here it is in my new ( less than 1 day old ) terrain engine. No time for 
> exploration yet, as I'm still debugging the terrain.
>
> http://home.earthlink.net/~zakariya/files/Wandering-Terrain.png
>
> On Sep 26, 2004, at 9:55 PM, Ivan Tanev wrote:
>
>> Dear Scott, Jon, John, Adam and Shamyl,
>>
>> Thank you very much for your posts regarding the Laser Range Finder. I
>> successfully implemented it and thanks to your help my creature 
>> (simulated
>> snake-like robot, Snakebot) now senses the environment in quite realistic
>> way. Hopefully, Snakebot will be able to integrate the sensor's 
>> information
>> into some useful autonomous behavior when situated in challenging
>> environments.
>>
>> Best regards,
>>
>> Ivan
>>
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>