1. Senior Capstone Project Andy Cornelissen

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

3. 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

4. Kasper Programming Commands/Interactive C Bump Sensors Photocells

5. Solution: The Programs hello_world move bumper_test photo_test move_bump line_follow grid_follow

6. Techniques Preemption Threads Global Variables/Flags Event Programming

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

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

9. 03 1 2 (1,1) (2,1) (3,1) (4,1) (1,2) (2,2) (3,2) (4,2) (1,3) (2,3) (3,3) (4,3)

10. Left Flag

11. Right Flag

12. Both Flags

13. Anticipate(); 1 2

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

15. Demo 1 S 1 2 3

16. Demo 2 S 1 2 3

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

18. Video Clip ST 1

19. Questions??

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

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

22. Extensions Sonar or Infrared Keep Travel Log Adaptability Improve wall system

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

24. Thanks for coming!