Walking Server

Alright I think the last version is pretty stable but let me know if you have any issues or need a more detailed building instruction. I'm quite happ with how straightforward this build turned out to be, things that could be improved int the future:

• More optimized checking methods inbetween movements, bringing the time lower than 3 seconds before a move can be made - would take a bit of time and I think the gains might not be that massive
• better speaker/bluetooth mic for improved understanding and response during movement, right now it can be hard to hear at times, when it's a noisy environment
• Upgrade the ultrasonic sensor to a lidar - They're fairly affordable now but I'm not sure if I feel like redesigning what we have now. I think it looks quite good as is and functions well but maybe in a future build, I would like something from scratch perhaps that follows the same design as the module

Hope you'll enjoy this version!

There's a new version of the image in the Internet Archive. I tested the navigation for autonomous mode in various environments and tried to optimize it, it's a little less intuitive and perceptive indoors but should work well on various surfaces and large spaces.

The difficulty comes from the interplay between the camera and the ultrasonic sensor, I'm trying to use the camera only for obstacle detection and the ultrasonic for overall navigation but tweaking the priorities and how it perceives obstacles has proven challenging.

Overall a good compromise, I will continue to optimize, maybe there's even a way to make it perceive which environment he is in and make him tune the settings according to that.

Ideally you'd train a neural network for that case but I feel that might be a little out of scope for the raspberry pi4b I'm using for this build, however we might be able to game the system a bit over time and make it approximate to something that would use a neural network for navigation.