Transcript Slide 1

Robotics Intensive:
Day 4
Gui Cavalcanti
1/17/2012
Class Goals
1. Demo and Discuss Control Systems
2. Break Up Into Teams
3. Top-Level Design
Time To Show Off!
The Mission
Project Description
1. Implement the basic line following
algorithm from the mbed Cookbook.
2. Implement the PID line following
algorithm from the mbed Cookbook.
3. Demonstrate identification of and use of
intersections.
4. Demonstrate travel to every branch of the
map.
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
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?
Feedback
Break Up Into Teams
Conceptual Design
Conceptual Design
1. Establish fixed requirements
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Build envelope
Component selection and requirements
Environmental restrictions
2. Estimate performance capabilities
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Power draw and operating time
Ground speed
Payload (if any)
3. Nice-To-Haves
Fixed Requirements
Build Envelope
– Maximum component dimensions
– Component weight
Major Component Selection
– Design and selection of critical components
Fixed Requirements
Estimated Size:
Estimated Weight:
Estimated Power Draw:
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
The Mission
Robot Performance
Estimation:
– Ground speed?
– Sensing distance?
– Sensing type?
– Stopping time?
– Mission time?
– Recharge time?