do not feed the robot

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?