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Escaping the Maze

Signals , Instruments and Systems. Escaping the Maze. Ezzat Leïla & Orthlieb Camille June 2010. Steps of the p roject. Description of the environment. Simplification of the world E- puck turns always left E- puck follows the wall at equal distance

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Escaping the Maze

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  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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