Download - Path Finder
Path Finder
MAE 576Group F
Amit KumarCarlos LolletGarth Mathe
Sameer PatwardhanUma Shankar Sharma
Sensors and Communication
• Ultrasound Sensor--Detects Distance to an
Obstruction
• 2 Way RF Communication--Allows Robot
and Base Station to Effectively
Communicate with Each Other
Path Design
• Multiple Angles
• Rough Walls for Ultrasonic Sensor
• Cost Effective
• Quick Setup and Tear Down
Flowchart Robot Base Station
No
Yes
Robot Moves Forward
Check forObstruction
Robot Stops
Turn
Calculate Maximum(Optimum) Direction
in Which to Turn
Robot Tells Base StationThere is an Obsruction
Base Station Tells Robotto Scan
Wait for Robot Signal
Robot Scans inMultiple Directions
Wait for Robot Signal
Send Turn DirectionTo Base Station
Turn DirectionAcknowledged,
Now TurnWait for BaseStation Signal
Modes of Operation
• Automatic--Robot Moves Through Path
Itself
• Manual--User Controlled Through 16
Button Keypad at Base Station
Real World Applications
• Surveying Mine Shafts
• Finding People Lost in Caves
• Exploring Places too Small for People
• Exploring Toxic Environments
• Finding Obstructions in Pipe Lines