Autonomous NERF Robot controlled by LIDAR

Рет қаралды 183,858

4 жыл бұрын

I wanted to experiment with a LIDAR unit so I thought I'd make a robot that can look for objects and shoot them with NERF Blasters. I'm using an RPLidar A1 and just processing the data on an Arduino MEGA. It's a lot like having a 360' array of range finders but being able to pick out any angle to get the data.
The robot looks at the average distance in 360 10' segments, bookmarks the value, and then looks for any change - objects coming closer in any segment. If any objects are detected it turns to that segment using wheel encoders for positing and shoots the target. I'd like to give it the ability to roam around looking for specific objects using the Jetson Nano for object recognition.
Videos from the start:
• RPLidar and Hector SLA...
• Autonomous Navigation:...
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Former toy designer, current KZfaq maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
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Пікірлер: 373

@jamesbruton 4 жыл бұрын

Patrons and KZfaq Channel Members already have next week's video - it's part 3 of openDog V2 - building the entire mechanical assembly!

@philosopherofinfinite4558 4 жыл бұрын

Gun dog or turret from rust.

@nagualdesign 4 жыл бұрын

The lights even turn green to let everyone know when it runs out of ammo, _just like a real sentry robot!_ 😜

@bunkerbois4624 4 жыл бұрын

Send this to me pls

@TidusleFlemard 4 жыл бұрын

My only problem with this bot is that I think it isn't able to differentiate between moving (usually organic) and unmoving (usually a wall, by example) target. So if you just boot it up close enough to a wall, it will just shoot at it.

@kanyemidwest293 4 жыл бұрын

It should say “Are you there?” When a target disappears

@corndoghead1 4 жыл бұрын

Or the portal turret "are you still there"

@sethrd999 4 жыл бұрын

@@corndoghead1 It would need laser sights also ;)

@onlyeveryone2253 4 жыл бұрын

"must have been my imagination"

@TsubasayaYami 4 жыл бұрын

alternative: "Must have been the wind"

@Lucian_Andries 4 жыл бұрын

"I'm different"

@benGman69 4 жыл бұрын

Would be interesting to see the robot use trigonometry to converge the guns on a fixed distance

@Convolutedtubules 4 жыл бұрын

A small offset between points of aim is probably a good thing in case you miss.

@sharkbeats1397 4 жыл бұрын

let me introduce you to gravity and the boiz

@PunakiviAddikti 3 жыл бұрын

That would be very interesting, essentially making it a sentry turret.

@adrianthoroughgood1191 2 жыл бұрын

Adjusting the angle of elevation depending on distance would be more useful.

@ev6558 9 ай бұрын

Just needs more dakka instead.

@martinedelius 4 жыл бұрын

Imagine being a kid having James as your uncle. :D

@SpencerPaire 4 жыл бұрын

What crazy timing! Just yesterday I was thinking about a Lidar project and I found exactly this module! My project idea was a "sixth sense" accessory. The Lidar would be mounted on a backpack (the one I use is rigid), with some buzzers and an IMU. The lidar data would be analyzed for moving objects, using the IMU to account for the wearer's motion and pick out objects (people) that are approaching the wearer from behind. If they got too close or approached too quickly, the buzzers would trigger with proportional power to indicate the approcher's direction and speed. I play a lot of HvZ, a nerf game where enemies can approach from anywhere, and this was my best idea to have a gadget to watch my back.

@CuulX 4 жыл бұрын

Sounds fun but very very hard to get working practically if you are not perfectly still.

@discreet_boson 4 жыл бұрын

How about for social distancing

@timotholen7255 4 жыл бұрын

Why dont you just use an ultrasonic sensor they dont have too much range but it could face upwards a little so your movement wouldnt be as critical and you could use a vibrating motor taped to your arm that would be more sneaky than a buzzer

@KuraIthys 4 жыл бұрын

@@timotholen7255 A belt of vibration motors seems to work well. It's been used in some situations to help helicopter pilots 'feel' obstacles low to the ground, since a helicopter can often kick up a lot of dust that blocks visibility...

@traniel123456789 4 жыл бұрын

@@timotholen7255 Ultrasonic sensors are horrible when moving because they don't pick stuff up in all directions.

@SCU3A_S7EVE 4 жыл бұрын

He’s literally teaching them how to seek and destroy. We’re doomed.

@PunakiviAddikti 3 жыл бұрын

You're a bit late there, multiple military forces have already been experimenting on autonomous seek and destroy robots for years, and they're making rapid progress.

@shts2trng343 2 жыл бұрын

@@PunakiviAddikti well then.. we're fucked

@GunGryphon 4 жыл бұрын

The perfect solution for defending your home from mannequins with long hair.

@nagualdesign 4 жыл бұрын

This bad boy works on _all_ mannequins. 😎

@delphicdescant 4 жыл бұрын

I wrote code for lidar mapping like this before, except that the sensor I used did more than a single plane of detection, having a vertical array of lasers that spun around to create a "fan" of detection. It cost like 10k though, so I'm really happy to see cheaper sensors on the market.

@BenjaminAster 4 жыл бұрын

You are like Michael Reeves but in well organized.

@aboringperson9069 4 жыл бұрын

lawful neutral michael reeves

@jeremiahdaniels8974 3 жыл бұрын

This is the funniest thing I've read here lol.

@d73w80 2 жыл бұрын

Michael Reeves, but not a sadist

@MakeTestBattle 4 жыл бұрын

I love this. Can you add a hit box that players could shoot to temporarily "stun" the robot during games.

@digitalbulb2694 4 жыл бұрын

Good idea

@D-S-9 4 жыл бұрын

You have a Xenomorph costume, you made an automated sentry gun... you made a Ghostbusters reference. Well played.

@bradzdanivsky 4 жыл бұрын

light is clean, trap is clean.

@johnpickens448 4 жыл бұрын

This is great! Now if you can get the lidar room mapping working you'll get two advantages: 1. You can correlate the room map with the robot position to give it better pointing and positioning control. 2. After waiting for a room map to emerge, you can then detect changes as potential targets.

@EskimoRuler11 4 жыл бұрын

This was a cool build. Now I feel like I need a 360 lidar to mess around with too.

@jamesbruton 4 жыл бұрын

thanks, hoping to do more with it in the future

@ianjensen3890 4 жыл бұрын

I knew what was coming, but the robot turning around to shoot something behind it was still unsettling! This is awesome. Might have to look at building one of these for use at my robotics team's outreach events!

@andrewmitchell5807 4 жыл бұрын

On today's episode of "finishing projects that normally take months of work in a single week"

@davinderc 4 жыл бұрын

You can tell he's excited about his project by the tone of his voice and the expression on his face.

@davidfountain6607 4 жыл бұрын

Having that thing spin around and face you like that is down right frightening! Good home security!

@isthissiddh 4 жыл бұрын

the robot is definitely fantastic but what i loved the most was the amazing suspension mechanism

@g.s.3389 4 жыл бұрын

i just found you on youtube and let me say you are incredibly smart, great in 3d printing and fun. I am going to check your other videos. It would be nice if you could think at a new project like a robotic lamp arm.

@amazinghistoryofvlogging6894 4 жыл бұрын

Love it, love it all. Both educational and entertaining. Keep up the awesome channel.

@keithbaker5894 4 жыл бұрын

James that was awesome. Super fast rotation.

@iankearns 4 жыл бұрын

I have taken about a year off your channel but glad I came back at this point. I would have these all around the house but it really does need the ED-209 voice from Robocop

@theliteralicecreamman 2 жыл бұрын

Imagine walking into his room, and everything is quiet, except for the gentle whirring of a strange orange device, which appears to be turned on. You walk closer to examine it and suddenly, it turns around. Very awesome and scary.

@EzequielBaltazar 4 жыл бұрын

Can't wait to see this unit on your dog! 🤖

@DIYtechie Жыл бұрын

Love this music for the 3D-printing!

@RobReynolds 4 жыл бұрын

Definite shades of Ed209. "You have 20 seconds to comply"

@mechdon 4 жыл бұрын

Amazing project. Keep up the good work!

@PhG1961 4 жыл бұрын

Great ingenuity ! Well done !

@spikekent 4 жыл бұрын

Awesome project, looking forward to more like this.

@annoucktremblay84 4 жыл бұрын

I really need this, love your work

@Flynn3778 4 жыл бұрын

Cannot like this enough. I have an A1 in my shopping cart and I'm about to pull the trigger on buying it!

@ShravanSuryanarayana 4 жыл бұрын

I had seen a video from Andreas Spiess titled "#227 The ugly truth about LIDARs for obstacle avoidance" where is explains a bit. This is a nice addition and update to it for us folks working on obstacle avoidance. A robot as proof of concept for sensors is always the most fun!!!. Thanks

@bk0681 4 жыл бұрын

This is brilliant, soon robots will be pinning whole citys down. Caught the ghost busters reference

@nigmaxus 4 жыл бұрын

You hit the mark on this one

@user-wq3jr9hn4m 4 жыл бұрын

I think James really enjoyed this one, I swear you could see him fighting to keep the grins away hahahah good stuff great content been following since R2-D2

@KernsJW 4 жыл бұрын

Nice job, inspiring as always.

@newburypi 4 жыл бұрын

So simple, yet so elegant :)

@TheRealFrankWizza 4 жыл бұрын

Very cool stuff man.

@starblastershooter2444 4 жыл бұрын

You are amazing my guy, wanna make robots like you

@GadgetAddict 4 жыл бұрын

I thought the delay in shooting is because the robot is waiting for the results of averaging. But it's very fast to move and then slow to fire. What's causing the delay in shooting?

@jamesbruton 4 жыл бұрын

There is a delay set so the blaster motors power up properly before it pulls the trigger, and then the trigger needs to move. If the motors ran continuously then it could be quicker.

@masonbooh5941 3 жыл бұрын

Its reving up

@stanleypugh4359 3 жыл бұрын

If a nerf gun isnt given enough time to rev up the motors, it can cause the the gun to jam

@maskedredstonerproz 3 жыл бұрын

@@jamesbruton or just rev up the motors while it's moving??

@DIYtechie Жыл бұрын

This is a very cool and fun project! Great implementation. Only should have the gun motors running continuously, so the reaction time would be way less. Thanks for sharing this cool project.

@avejst 4 жыл бұрын

Great design Thanks for sharing👍😀

@yyunko7764 4 жыл бұрын

also the PWM pin is because the lidar will send uart data of the speed so you can do closed loop speed control of the lidar rotation which stabilizes the speed, makes the data a lot more reliable

@stevenacton359 4 жыл бұрын

James shooting Onisions head - priceless!!!

@marco_gallone 4 жыл бұрын

Ou I know that this can be a real fun project! James, you should make it closed loop feedback and have the front of the robot track the target, using the lidar as the sensor to determine how much further the robot needs to turn to lock onto the target. That would make it perform way better than 36 different encoder count set points hard coded. Then you can include a PID to make the rotation happen sharply and swiftly! Or you can even have it estimate the “time till target acquired” and prepare arming sequence on route as it turns to face the target so that it can basically quick-draw. Releasing the bullets as soon as it has faced the target.

@grizzlyb9625 3 жыл бұрын

yoooo this is dope as hell!

@sakshamgoyal5907 4 жыл бұрын

Personally thing that i like your channel because u make too interesting projects

@geoffrey3668 4 жыл бұрын

Always impressive!

@StevenIngram 4 жыл бұрын

Very nice!

@111connorg 4 жыл бұрын

You should do a circle of about 8-10 guns and have the the same sensor at the top and have which ever the sensor picks up, the gun nearest that target shoots :) great robots!! Never miss your videos!!

@rungeon83 3 жыл бұрын

One way of working out if something is further or closer based on "o" is to record the highest value that isn't 0, then when you check for 0, if it's a high number then you've gone over 7, and if it's a low number you're too close to something.. Not that it matters, building the robot so it can't ever be too close is a great idea :D

@DrivewayWorkshop 4 жыл бұрын

The company I work for makes industrial LIDAR scanners, fun to play with. Usually they are used for collision advoidance, although we have a measurement versiopn also.

@ronimikkonen1764 4 жыл бұрын

another great video! would love to see you improve it by making it roam around a room or something!

@kryptocat4240 4 жыл бұрын

Good video

@ripcurl010 4 жыл бұрын

I badly need this for the mother in law....

@mcsdaver 4 жыл бұрын

Amazing build James. Love this Nerf robot. If you gave it tank tracks and let it loose outside you could have a blast with it. Give it a target that you can shoot at for a Human VS Robot Battle!

@simontilstedhansen9296 4 жыл бұрын

This is the most advanced nerf gun robot I have ever seen, but you made it sound understandable 😁👌

@casparleighton663 4 жыл бұрын

There are bad nerds, and there are good nerds but you are the best nerd

@davadid2831 4 жыл бұрын

I was thinking about this and lo and behold, it’s in my recommended.

@trulyen 4 жыл бұрын

This looks fun

@bgrant1512 4 жыл бұрын

you should try using an electronic compass to directly match the LIDARs angle.

@u1zha 4 жыл бұрын

Hm, no need for a compass to do that... The wheels can simply turn the robot to the angle where LIDAR reports the target as being. The LIDAR isn't using earth's magnetic field for reference, it's using its chassis.

@alexlubbers1589 2 жыл бұрын

My mans is now literally the TF2 engineer. He built a sentry

@justluke8730 4 жыл бұрын

Did almost the same at university last year (exactly the same nerfgun) ... But we used 3 ultrasonic sensors to locate targets in 3d

@danielhoven570 4 жыл бұрын

FYI the quality value is the reflectivity of the surface, not the accuracy of the reading. Quality is a term in optics that refers to the ratio of reflected light to the incident light.

@TheRealAlpha2 4 жыл бұрын

It's like an angry little R2D2 the way the motors squeal when it winds up to shoot.

@Nicecube3D 4 жыл бұрын

Very good video, I have an old defective robo vacuum cleaner, I didn't know what to do with it, I'm going to use the included lidar to create a project! Now I need to see which model is in my Ecovac R95 :)

@violentcrumble6720 4 жыл бұрын

great video, love your channel. Would love to see parts lists in your comment section, So for example a link to buy the motors or the lidar. thanks heaps.

@JevoUK Жыл бұрын

We are going to need you when TSHTF.

@nishantsharma4465 4 жыл бұрын

Amazing amazing this is all I can say for your projects I am just waiting for you to make a SLAM robot

@lilhotdog7011 4 жыл бұрын

super sick!

@motbus3 4 жыл бұрын

i was thinking "cute robot with nerf guns...." then the first time it scans and turns i prayed for nobody making this with real guns :P

@dhyanais 4 жыл бұрын

Wow. I love it

@Lrrrable 4 жыл бұрын

Actually, this is the first robot itself that I see on this channel

@VideoStefan17 2 жыл бұрын

if you run up the nerfs and do the truning after that, the nerf shoots will go of faster. it hase the time it takes to turn. :) nice project!!

@heinrichhelmbold419 4 жыл бұрын

Awesome video... I have been working on something similar for the past 3 or 4 months and this was a great inspiration and also a nudge into a new direction of thinking. I have been using big stepper motors with a massive Nerve gun attached, but the steppers are too jerky and slow, somI am following your approach now. Btw... the start bit on the lidar tells you if it is the start of a new scan. So basically every time it gets to 0 degrees

@davismorehead2494 5 ай бұрын

Amazed how fast it rotates. It’s a little scary

@andydix6243 4 жыл бұрын

When you have it roaming around seeking to destroy, add some targets to it which temporarily disable it. Then when the pandemic is over, take it to that warehouse, set up some obstacles (cardboard boxes etc.) and invite people to play capture the flag against it. They can try to disable it with their own nerf shots whilst it seeks them out. I'd pay to play that 😂

@jacksonhickman3851 3 жыл бұрын

Just a thought for V2. You could perhaps only use 1 blaster at a time, but leave it running for 10-30 second blocks and than swap to the other blaster. Leaving it running in cycles will hopefully be enough to not cause issues with the blaster motors whilst also allowing for the detection to shoot time to be largely reduced. Can't wait to see more of this project, I think might be the push I need to finally take back up coding again👍

@martijngeel9224 4 жыл бұрын

you could also use a maixduino for recognize objects and you can buy it for about us$28 with camera and display. It is arduino compatible board.

@GreenJimll 4 жыл бұрын

I could do with one of these in my garden to keep the beighbours' cats off my flower and vegetable beds! :-)

@KuraIthys 4 жыл бұрын

if your goal is to scare off cats, replace the nerf guns with water pistols. XD

@NicoDevs1998 4 жыл бұрын

I cannot wait for James to start using ROS!! It would be so cool to see his robots integrate SLAM and other frameworks like MoveIt!

@jamesbruton 4 жыл бұрын

It's coming

@NicoDevs1998 4 жыл бұрын

@@jamesbruton Awesome! Really huge fan btw, you have been an incredible inspiration for me; started building robots and implementing better design techniques/practices thanks to you!

@jacklewis1 4 жыл бұрын

interestingly the sensor doesn't use time of flight, instead has the laser at an angle and a camera to detect the position of the laser spot, then uses trig to find a distance, reducing the complexity and cost dramatically, as no extremely fast and accurate timing is needed.

@mariovelez578 4 жыл бұрын

This guy is gonna take down a whole military with Nerf darts

@CptJellyfish99 3 жыл бұрын

Does anyone know where I can find the RPLIDAR A1 USB adaptor board as a CAD model? Thanks

@theheathendiaries2352 4 жыл бұрын

So you have essentially made a sentry droid? Mate, you need to make it look like something out of star wars, that thing is frigging cool

@Corgitronics 4 жыл бұрын

I would really like to see a good video on using ROS !

@oluwanifemiafolabi2898 4 жыл бұрын

I love your videods you are amazing.

@Paul-rs4gd 4 жыл бұрын

Love this project, but Jody Williams is coming for you James !

@titanic_monarch796 4 жыл бұрын

I'm planning on making a nerf tf2 sentry, so this is really helpfull!

@owensparks5013 4 жыл бұрын

How about some facial recognition so it knows friend from intruder? Edit, doh, and that is why you should watch the video before commenting.

@masonbooh5941 3 жыл бұрын

Learnt the hard way

@mertcapkin7263 3 жыл бұрын

could you please provide a link or part number for the encoders?

@AndrobotTECH 4 жыл бұрын

good project friends, greetings of LATINO-AMERICA!!!!

@msm2029 4 жыл бұрын

Can someone please explain me the filtering used (distanceFiltered1 = (0.8 * distanceFiltered1) + (0.2 * distance1))? Is there a general formula for filtering data that I just didn't learn about?

@Goodwill345 4 жыл бұрын

You are the best and the fastest in the entire world as of today when it comes to building new robotics projects. This definately can be sold commercially, imagine killing all the pests in your fields suchba locusts taking over large villages and cities, it is like advanced slingshots used by farmers and defense systems. There is a lot covered in this project which takes years of experience and hardwork

@srtghfnbfg 4 жыл бұрын

From a software engineer perspective, you can just say that you store the initial time and measure every loop iteration the time elapsed to not have to block/delay the code. Also you've kind of built a state machine where the flag just keeps track of the state.

@kantpredict 4 жыл бұрын

He likes to explain "for dummies" because he can't guarantee that every new viewer is a software engineer.

@CricetoFunni 4 жыл бұрын

7-year old me would love this, current me also loves this!

@christiansrensen3810 4 жыл бұрын

Me as 7 year old..."what's your name".. the current me..."what's your name"..🤗

@adamsolovay51 4 жыл бұрын

@James Bruton. Fantastic Project. I'm doing a simplified version of the project to just control the chassis with encoder position. Why not use the LIDAR data to rotate until the object detected is within the plus minus 5 degree window about the zero mark? Why use encoder, when the LIDAR data could be a more reliable closed loop system? Does my question make sense?

@riaan_za932 4 жыл бұрын

I presume the start bit means if the scanned results belong to new rotation, I guess they want you to move the data into array using the start bit to determine if you should create new object for the array...

@redstarfire4037 4 жыл бұрын

James built a turret everyone. I now wonder if he could use a mix between robotX and his performance robots as test subjects :P

@The_One_Time 4 жыл бұрын

I was hoping that it would actually roam around with a map of the house built in and, if it detects a large change in the map (aka, someone goes in the robot's path) it will turn towards the target and fire. Maybe you can implement something like that one day, though the lidar can't really see that far. Maybe you can figure it out.