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Robotics Intensive: Line Following Challenge

Dive into control systems, algorithms, intersections, and map traversal in this robotics workshop. Design, program, and test your robot’s navigating skills. Discuss intersections, robustness to disturbances, and more. Team up, strategize, and compete for bonus points based on performance!

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Robotics Intensive: Line Following Challenge

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Presentation Transcript

  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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