TAs Bruce Burnett Isaac Dekine Richard Juchniewicz Lab 3 Braitenberg Vehicles TAs Bruce Burnett Isaac Dekine Richard Juchniewicz

Who is Braitenberg? Valentino Braitenberg

What is a Braitenberg Vehicle? Machine designed to produce complex behaviors based on simple connections between its sensors and actuators In our case, we’ll be using light sensors

Basic Concept Each robot has a pair of light sensors on the front Robot A: Left sensor controls left motor and right sensor controls right motor Robot B: Left sensor controls right motor and right sensor controls left motor Which robot is a Photovore? Which robot is a Photophobe?

Your Assignment Each team will construct their own Braitenberg Vehicle which is attracted to a stationary 60W light source The robot must be able to navigate to within a 6” radius around the light source in one of the 3 two minute long attempts Those robot which do not make it to within 6” of the light source will be awarded points based on their distance from the light source Bonus points will awarded to those robots that stop with in the 6” radius without touching the light source

Constraints The robot will be arbitrarily placed, by the TA, between 12”-24” from the light source. Additionally, the robot will be angled slightly away from the light source, by the TA, at an arbitrary angle between ±45o

Suggestions Don’t use a fixed threshold value to detect light changes Subtle changes in sunlight or the opening of a window can cause your threshold value to become useless Use Lego pieces to narrow the light sensor field of vision This can make a world of difference in a robot’s behavior Build a robot platform which has 6”X6” foot print It will save you a lot of work on later labs

Demo Date Tuesday February 7th, 2006 During Recitation 1:30PM-2:30PM In the Robot Education Lab (REL) Please present a copy of the grading sheet to your grader at the demo

Questions?