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Maze and Obstacle Navigation Project

Develop and design a maze solver that can navigate through walls and avoid obstacles using sensors. Implement turn, distancing, color sensing, and grid navigation functions. Submit a report and demonstrate successful navigation.

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Maze and Obstacle Navigation Project

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  1. Overview of Project 2Slides are available at : http://www.pages.drexel.edu/~mjm46Report due in 2 weeks Matthew Murach

  2. Project 2: Maze Navigation • For this project, you are developing and designing a maze solver • Walls will be placed in a random order. You will use the new metal course for this project. • If your design is correct your machine will traverse the course and stop at the desired destination

  3. Project 2: Obstacle Navigation • For this project your code should use either the shaft encoder or time functions to execute a π/2 turn. The sonar should be used for object avoidance. • See old notes on maze navigation • Note that in this experiment, open loops can and will be present in the course. • Several possibilities • Recursion (trees) • Brute Force

  4. Project 2: Functions • The following steps are needed for this project • Turn functions along with calibration features • A Forward function that uses sonar( ) to indicate an obstacle is present. • A set of distancing function (need to know when you are at the objective point) • Color Sensor (for stopping) • Internal Compass and Grid Navigation

  5. Project 2: Sample Run (4x4 course) Legobot Starting Position Legobot Starting Position Y (N) X (E)

  6. Project 2: Constraints • Dead ends can be present (do not have to backtrack on each pass) • Robot will start off facing towards the course at reference (0, 0) • Must get to the destination and stop • Wandering around is ok • Project is intended to use multitasking

  7. Project 2: Procedure • First calibrate all turning and distance times… • Make use of persistant globals (see ECE-C304 notes) • This is done with no obstacles present. • Setup unit navigation • Step 0: Make the robot go straight and turn correctly • Step 1: Make a simple “snake” maze with no dead ends • Step 2: Make a maze with one dead end. • Step 3: Make a maze with circles • Step 4: Complete the project

  8. Project 2: Report • This project will require the following. • Each design team consisting of 2-3 students should submit a 5-6 page report detailing the design (not including C files). Pictures and graphs count toward this requirement and are encouraged. • In addition, all C files needed for this project should be well commented and readable. • Also each team will be required to show that the design works by illustrating the robot can navigate the obstacle course successfully.

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