1. Wall-Follower Xiaodong Fang University of Florida School of Electrical and Computer Engineering Automatic Wall Following & Color Detecting Robot

2. How it looks?

3. Platform & Control Board Aluminum four-wheel platform from Amazon.com Aluminum sheets drilled and bended to mount sensors Rear wheel drive, two motors Epiphany DIY board

4. PING))) Ultrasonic Distance Sensor 2cm to 3m range Narrow acceptance angle 3pin header, easy to connect, a little complicated to use 5v TTL logic, pulse width proportional to detected length

5. Theory of Operation The only signal pin will be used as both input and output, and communicate between 3.3v and 5v!

6. Sharp GP2D120XJ00F IR Range Finder 3cm – 30cm range 3 pin header 5v, analog output Compatible with Epiphany Board

7. CMUcam v4 (Sparkfun) Fully programmable embedded computer vision sensor Mainly work with colors (get statistics & track color) 160*120 resolution @ 30 FPS Servo control & uSD 5V supply voltage, compatible with 3.3V/5V input / output

8. Communication Example

9. What does it do? Approach and follow a wall While following the wall, it detects a certain color and stop beside the color It will then follow the color (move forward or backward) Can be used in parallel parking or automatic driving

10. Thank you, I love you guys! Questions?