DO NOT FEED THE ROBOT

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DO NOT FEED THE ROBOT
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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
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Outline

• Overall Progress
• Navigating
• Finding Waypoints
• Interface To Robot
• Accessing Waypoint Data
• Implementation
• Upcoming Work
• Questions

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Navigation
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Waypoints
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Graphical User Interface
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Accessing Waypoint Data
//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
Commands 0,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
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Waypoint Detection

• Doorframes, open hallways, wall drop offs
• Waypoint checked every 300 ms using one sonar
  transducer

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Drift Correction

• 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

-2T
Y
T
X
Y
Wall
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Drift Correction
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Waypoint Patrol

• The waypoint patrol code function was written
  to demonstrate Guidebots 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.

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Upcoming Work

• Implement entire interface in Flash
• Map hallway and implement waypoint path
• Collision avoidance / course correction
• Interface interaction / motion sensing

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Questions?