Robot ProgrammingTeam Enigma

Ariana Mirian, Computer Engineering

Jinhao Ping, Computer Science

Rossen Pomakov, Electrical Engineering

Nikki Schumaker, Computer Engineering

Lindsey Stolzenfeld, Computer Engineering

Topics• Polulu M3PI Robot

• Demonstration

• Part I: Kiva Robot Imitation• Getting started with Basic Testing• Simple Line Following• Intersections• Bluetooth Communication• Automated Intersection Detection• Dual Modes of Operation• Sharp Turns and Speed Vs. P control

• Part II: Extremum Seeking Controller• Simulation• Cosine Shaped Path• High-Pass Filter and Perturbation• Smoothing Factor

Polulu M3PI Robot

• Screen• Bluetooth Module• Light Sensors• Two Wheels

• Coded in C++

Demonstration

Kiva Robot Imitation

Kiva Robots• Used by Amazon

• Warehouse Automation

• Utilize Magnetic Strips

Tracks

Basic Testing• “BetaCalibrationLine”• Auto-Calibration• Black vs. White threshold is approximately 300

Simple Line Following

Line Position Function

P Control

Custom Line Position Function

Sharp Turns, P control and Speed • Turns greater that 90°

• Original Line Position Function• Five Sensors for line detection on far left or right

• P control value• Lower value for reliability• Higher value for speed

Intersections• Detection intersections

• Position Tracking

• Intersection Functions

Automated Intersection Detection

• Multiple Samples

• Compares data values to determine possible directions

Bluetooth Communication• Establishes a wireless

link between robot and computer

• Two-way communication

• Creates a more user responsive robot

Dual Modes of OperationManual Mode

• Asks for directions at detected intersections

• Error returned to terminal if invalid direction is input

Automatic Mode• Asks which storage unit

it should navigate to

• Asks for directions again upon arrival

Extremum Seeking Controller

Map of Extremum Gradient

Cosine Shaped Path

Extremum Seeking Controller• Find and follow the

largest change in gradient field

• Simulate sinusoidal path of movement

• Use controller to adjust direction

• Utilize additional controller to smooth movement

Simulation• Control system was

simulated using Matlab

• Calibration of variables made simpler

Summary Part I

• Simple line following program

• 90° turns and intersection detection

• Bluetooth communication

Part II

• Robot Extremum Seeking Controller operation

• Gradient following program

• Operation using simulation results

Contact InformationAriana Miran

Jinhao Ping

Rossen Pomakov

Nikki Schumaker

Lindsey Stolzenfeld

- amirian@umich.edu

- jinhping@umich.edu

- ropomak@umich.edu

- nikvsch@umich.edu

- lstolz@umich.edu