4/18/2013 EEL4665 Spring ‘13 University of Florida Leonardo Falcon

 Create an autonomous that reaches a specific relative location as performing obstacle avoidance.  Show precise movements possible with the tracking capabilities of optical mouse sensors.

Goals Goals Behaviors: 1. Going Straight. 2. Measuring angles. 3. Moving in the form of a shape. 4. Remembering a trajectory. 5. Use trigonometry to reach a target.

 Drift/Accumulation of error.  Algorithm for reaching a target as getting around obstacles.  Sonar Range.

ADVANTAGESDISADVANTAGES  No slippage error as in shaft encoders.  Measures very fine movement.  Registers yield 2 dimensional displacement.  Registers must be read very often to prevent saturation.  Overflow error at high speed.  Must be mounted in very close proximity of a flat surface.

 Send back information about location reached (i.e. images, temperature).  Second source of navigation data to further increase accuracy.  Algorithm for finding a more effective route on a second run.