do not feed the robot
DESCRIPTION
DO NOT FEED THE ROBOT. The Autonomous Interactive Multimedia Droid Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski March 8th, 2004. Outline. Overall Progress Navigating Finding Waypoints - PowerPoint PPT PresentationTRANSCRIPT
DO NOT FEED THE ROBOT
The Autonomous Interactive
Multimedia Droid
Bradley University
Department of Electrical and Computer Engineering
EE-452
Dan Leach and John Hathway
Advisor: Aleksander Malinowski
March 8th, 2004
Outline
•Overall Progress
•Navigating
•Finding Waypoints
•Interface To Robot
•Accessing Waypoint Data
•Implementation
•Upcoming Work
•Questions
Navigation
Waypoints
Graphical User Interface
//Index,Name,Floor,Lane,X,Y,Min Dist.,Max Dist.,Can Go Forward,//Can Go Backward,Crosses To,Is A Stop,Is A Patrol,Manual Commands0,Origin,3,1,0,0,50,100,1,0,0,1,1,0;1,B,3,1,0,0,50,100,1,0,0,1,1,0;2,C,3,1,0,0,50,100,1,0,0,1,1,0;
Accessing Waypoint Data
Waypoint Detection•Doorframes, open hallways, wall drop offs
•Waypoint checked every 300 ms using one sonar transducer
Drift Correction
X
Y’
-2ΘY
Wall
Θ
•Guidebot is designed to follow a straight path to its destination
•Problems with drift have been observed and a method for correction has been devised using trigonometry
Drift Correction
Waypoint Patrol
• The waypoint patrol code function was written to demonstrate Guidebot’s ability to keep track of its position and find waypoints.
• Guidebot was programmed to patrol the hallway in a designated path which included crossing the hallway twice within each loop
• Made three complete paths around the patrol loop before it was too far off track to find the proper waypoint.
Upcoming Work
•Implement entire interface in Flash
•Map hallway and implement waypoint path
•Collision avoidance / course correction
•Interface interaction / motion sensing
Questions?