A Robot mapping a series of hallways Isaac Rieksts Name I am working on making a maze in which to have a robot navigate.

Introduction Why this project? My Simulator Local Map Recognize Openings Making a turn Follow directions Mapping Adding some AI

Why this project? Summer internship Worked with Dr. Roppel Divided into 2 groups 3 person team for simulator

My Team Adam and steve

My simulator The program is only in simulators Player Stage Runs only on Linux

Summer programs Wall Avoid Following the leader Speed algorithm Turn algorithm

How to turn the range to points X = cos(q) * r Y = sin(q) * r

Turn sonar into X, Y points dist = sqrt((x2 - x1)2 + (y2 - y1)2). This allows us to use the Law of Cosines to get the angles a and g. a = cos-1(OB2 + AB2 – OA2 / (2 * OB * AB)) g = cos-1(OB2 + BC2 – OC2 / (2 * OB * BC))

How we get the angle dist = sqrt((x2 - x1)2 + (y2 - y1)2). This allows us to use the Law of Cosines to get the angles a and g. a = cos-1(OB2 + AB2 – OA2 / (2 * OB * AB)) g = cos-1(OB2 + BC2 – OC2 / (2 * OB * BC))

The Local Map

Recognize Openings

About to turn

Making a turn Had a lot of trouble with this First tried a turn algorithm that was generic To solve this calculate the distance to end of turn

Current Turning Starts with a non-sharp turn Increases the amount it turns as it goes At the half way point decreases the amount it is turn Thus finished the turn with a non-sharp turn

Turning

Possible ways to fix turn Use a constant speed Change algorithm from a linear one to an exponential algorithm Use the side sensors to avoid hitting the walls on the side

Follow directions This is useful for testing the algorithms I have just talked about Recognizing Openings Making a turn This is also used for testing the map

Mapping Drop a robot into a new environment It will go through all possible hallways and make a map of them I am using x, y points for each node

Final step (putting some AI behind it) Basic alg. Go Straight if can Else turn right Else turn left Backtracking If it comes to a node it has been to before. Then it will go back to last node missing an arc