DO NOT FEED THE ROBOT

1. DO NOT FEED THE ROBOT

2. 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

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

4. Navigation

5. Waypoints

6. Graphical User Interface

7. 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;

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

9. 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 -2Θ Y Θ X Y’ Wall

10. Drift Correction

11. 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.

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

13. Questions?