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Robotics Intensive: Day 4

Robotics Intensive: Day 4. Gui Cavalcanti 1/17/2012. Class Goals. Demo and Discuss Control Systems Break Up Into Teams Top-Level Design. Time To Show Off!. The Mission. Project Description. Implement the basic line following algorithm from the mbed Cookbook.

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Robotics Intensive: Day 4

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  1. Robotics Intensive:Day 4 GuiCavalcanti 1/17/2012

  2. Class Goals • Demo and Discuss Control Systems • Break Up Into Teams • Top-Level Design

  3. Time To Show Off!

  4. The Mission

  5. Project Description • Implement the basic line following algorithm from the mbed Cookbook. • Implement the PID line following algorithm from the mbed Cookbook. • Demonstrate identification of and use of intersections. • Demonstrate travel to every branch of the map.

  6. Bonus Points • Fastest time • Ability to travel to a specific intersection • Ability to travel to a specific intersection by more than one route • Demonstrate (software-based) object detection

  7. Control System Discussion • How do you handle intersections? • How do you handle blind alleys? • What does your robot know about the map? • How robust is your program to disturbances? • What would you do differently if you got to design the robot and the line from scratch?

  8. Feedback

  9. Break Up Into Teams

  10. Conceptual Design

  11. Conceptual Design • Establish fixed requirements • Build envelope • Component selection and requirements • Environmental restrictions • Estimate performance capabilities • Power draw and operating time • Ground speed • Payload (if any) • Nice-To-Haves

  12. Fixed Requirements Build Envelope • Maximum component dimensions • Component weight Major Component Selection • Design and selection of critical components

  13. Fixed Requirements Estimated Size: Estimated Weight: Estimated Power Draw:

  14. Fixed Requirements Environmental Restrictions • Walk the robot’s path with a tape measure • Minimum width measurement • Maximum width measurement • Types of obstacles • Potential starting points/home bases

  15. The Mission

  16. Robot Performance Estimation: • Ground speed? • Sensing distance? • Sensing type? • Stopping time? • Mission time? • Recharge time?

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