Revision as of 19:39, 24 July 2012

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Autonomous robot

The goal is to make an autonomous robot, based on a snow plow R/C model, randomly moving in a space (rooms, corridors, ...) while avoiding obstacles with its sensors.

Links

http://luckylarry.co.uk/arduino-projects/obstacle-avoidance-robot-build-your-own-larrybot/

http://www.irit.fr/~Nicolas.Lassabe/robot.php

Hardware

• Snow Plow R/C model
• Arduino Duemilanove
• IR sensor: Sharp IR GP2Y0A02YK
• Ultrasonic sensor: SRF05
• Servo motor

Detailed description

Mobility: provided by snow plow original tracks and motors.

IR sensor: mounted on the servor motor and used to scan an angle of 120° in front of the robot. Used as a kind of long distance proximity sensor to detect obstacles in advance and let th AI take the right decision.

Ultrasonic sensor: used to detect only front obstacles. Used for emmergency stop in case the IR sensor miss something.

Servo motor: used to sweep an angle of 120° (60° left ans 60° right) in front of the robot.

Goals

In a first time, move avoiding obstacles.

In a second time, anticipate obstacles to move more lightly avoiding zig-zag between walls/obstacles.