As my first project for Misty I wrote a skill to patrol a perimeter by following the right hand wall. The environment is a regular house with a circular floor plan and assorted furniture including bookshelves, coffee tables, etc., so, some narrow-ish spaces. Navigation uses only the TimeOfFlight sensors. The problem comes with furniture which Misty doesn’t see with the TOF’s. I’ve played with the TakeDepthPicture functionality, but it doesn’t look like that will work.
So I’m thinking of adding whiskers for detecting things on the front and sides, and I’m looking for advice on how to start. I’ve never done anything with arduino or raspberry pi, and don’t know which might be cheaper or easier with Misty. I’m looking for the cheapest/easiest way to get started. All suggestions welcome.