Autonomous Design for PCC’s Robotics Challenge Entry Autonomous Pathfinding Autonomous Design for PCC’s Robotics Challenge Entry

Autonomous Pathfinding Project Goals Organization Planning Implementation Results Lessons Learned CoSGC for Me

Project Goals Autonomous Navigation Durability Longevity Agility Speed

Organization Public Domain Image Harvested from http://en.wikipedia.org/wiki/File:ICS_Structure.PNG

Planning

Planning Obstacle Detection Pathfinding A* Wavefront

Planning

Planning One Map Error

Planning WaveFront Algorithm Create a cell grid Insert Beacon “2” Insert Robot “500” Insert Obstacles “1” Start at “2” cell Add all adjacent cells to buffer Starting at first cell in buffer add 1 to current cell value, eg “2+1=3” if empty Add this cells neighbors to buffer's tail Go to next cell in buffer, add 1 to current cell value

Planning

Planning Obstacle Trigger Points IMU sensing 45* tilt Front Wheel Sensors Hole Sensor Rock Sensor Main IR turret too high to sense all obstacles Solved with front IR sensors

Implementation

Implementation Mapping Code Pathfinding Code bugs Calibration Techniques RAM Requirements Manual Control Easy Transfer Library

Implementation

Implementation

Results

Results Performance Great on kitchen floor Great on Shop floor Okay in Campus Backyard Not so good on sand High centering on rocks Bottoming out Software Pathfinder Buggy Looking into sun saturates IR sensors Poor soldering on front IR sensors caused “Ghost Obstacles”

Lessons Learned More Robust Chassis Hole detection needs redesign Schedule needs to be made and kept Simpler Software may be useful More powerful computer may be needed Need closed loop control of movement

CoSGC for Me Before No previous knowledge of microcontrollers Not a programmer General ignorance in field of automation After Built 3D printer Own Raspberry Pi Printing Quadcopter Automated Greenhouse 5 axis Milling Machine