Senior Capstone Project Andy Cornelissen

Project Definition Construct a mobile robot that simulates the robotic vacuum cleaners currently on the market designed to navigate a room containing obstacles.

Requirements Vacuum must be able to cover entire room Redesign the robot Include a sonar detector Must use at least two detectors Preemptive priority based algorithm

Kasper Programming Commands/Interactive C Bump Sensors Photocells

Solution: The Programs hello_world move bumper_test photo_test move_bump line_follow grid_follow

Techniques Preemption Threads Global Variables/Flags Event Programming

Grid System Processes Priority(); CheckLeft(); CheckRight(); Anticipate(); Frontbump();

Data Structures Flags! Left, Right, Front Start X and Y positions, and Direction Current X and Y positions, and Direction GoalX[], GoalY[], GoalCount

(1,1) (2,1) (3,1) (4,1) (1,2) (2,2) (3,2) (4,2) (1,3) (2,3) (3,3) (4,3)

Left Flag

Right Flag

Both Flags

Anticipate(); 1 2

Processing faster than hardware Batteries Adaptability/Lighting Sonar Loading/Unloading Programs Roadblocks

Demo 1 S 1 2 3

Demo 2 S 1 2 3

Video Clips Early Line Following Improved Line Following Grid System In Action Grid System In Action Again

Video Clip ST 1

Questions??

Strategies Design on paper Internet sites and Message Boards Bryant Coughlin’s site and documentation Meetings with Dr. Pankratz Debug using output LCD screen

Knowledge Operating Systems Class Artificial Intelligence Class Debugging Code from Assignments and Labs Self-Taught

Extensions Sonar or Infrared Keep Travel Log Adaptability Improve wall system

Advice Start early Don’t concentrate on one thing Have a current goal in Journal

Thanks for coming!