Print PDF
Favorite
Email
Step 3NAVIGATION
Belvedere can run in two different modes, NAVIGATE and ROAM.
In NAVIGATE mode, Belvedere keeps track of his location on a large grid of the house. To plan his move to the next destination, he uses a WAVEFRONT algorithm. I got the idea to use a wavefront algorithm from the Society of Robot's website (LINK). In order to use this mode, the floor and permanent obstacles (walls, couches, etc) must be pre-mapped into a large matrix. Also, Belvedere must be started in the same location and orientation when he is turned on, otherwise he wouldn't have a reference.
In ROAM mode, Belvedere, will not keep track of his location in the house. He will move a few feet forward, pause for a while, turn randomly, and continue forward.
OBSTACLE AVOIDANCE
In NAVIGATE mode, Belvedere will constantly monitor his three ultrasonic ranging sensors when he moves forward. If an obstacle is detected closer than a certain threshold, he will begin to slow down gradually. If an obstacle is within 1 foot, he will stop and speak a warning. The Sharp IR sensors are used to veer Belvedere away from walls without slowing him down.
In ROAM mode, if Belvedere detects an obstacle while moving forward, he will stop, rotate a random angle, and continue forward in a different direction.
In NAVIGATE mode, Belvedere keeps track of his location on a large grid of the house. To plan his move to the next destination, he uses a WAVEFRONT algorithm. I got the idea to use a wavefront algorithm from the Society of Robot's website (LINK). In order to use this mode, the floor and permanent obstacles (walls, couches, etc) must be pre-mapped into a large matrix. Also, Belvedere must be started in the same location and orientation when he is turned on, otherwise he wouldn't have a reference.
In ROAM mode, Belvedere, will not keep track of his location in the house. He will move a few feet forward, pause for a while, turn randomly, and continue forward.
OBSTACLE AVOIDANCE
In NAVIGATE mode, Belvedere will constantly monitor his three ultrasonic ranging sensors when he moves forward. If an obstacle is detected closer than a certain threshold, he will begin to slow down gradually. If an obstacle is within 1 foot, he will stop and speak a warning. The Sharp IR sensors are used to veer Belvedere away from walls without slowing him down.
In ROAM mode, if Belvedere detects an obstacle while moving forward, he will stop, rotate a random angle, and continue forward in a different direction.
| « Previous Step | Download PDFView All Steps | Next Step » |
 |
Add Comment
|
