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Navigating Mazes with E-puck Robots: Strategies and Findings

This project explores the behavior of E-puck robots as they navigate complex mazes using various sensors including front, side, compass, and GPS. The goal is to simplify maze navigation by enabling the robot to follow walls and respond to environmental changes, particularly color shifts at specific time steps. The study evaluates the impact of sensor noise on navigation accuracy and highlights the need for flexible coding solutions that can adapt to different maze scenarios. Ultimately, the findings aim to improve the robot's ability to escape real mazes through refined frequency detection and position tracking.

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Navigating Mazes with E-puck Robots: Strategies and Findings

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Presentation Transcript

  1. Signals, Instruments and Systems Escaping the Maze Ezzat Leïla & Orthlieb Camille June 2010

  2. Stepsof the project

  3. Description of the environment Simplification of the world E-puckturnsalwaysleft E-puckfollows the wallatequal distance Use of front and sidesensors (0,2 and 5) Use of compass and GPS datas E-puckstartsupdatingits position after a corner

  4. Detection of changes of colors Responsevalue sent aftereach time step Number of time stepsstockedbeforeeach change of color Detection and storageof change of color

  5. Link frequencies and location • Update believed positions from the corner Detectfrequency Deduce the wall Know from which corner he starts Find the good believed position

  6. Like in maze… From a known position, find the final point – the maze’s escape

  7. Effect of noise on the IR sensor • Front Sensor : to move and turn • 1% of noise doesn’t change anything • 10% the robot can’tfollow the wall • Right sensor : to detectfrequency • 30% of noise doesn’t affect the measures • 50% doesn’tdetectany change of color

  8. The movie

  9. Conclusion Main objectives reached Our findings have to beimproved in order to escape a real maze Make a code enought flexible to reproducemany times the lecture of frequencies and update positions Revise the stability of the detect values Face more random situations Appreciations

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