1. TAs: Somchaya Liemhetcharat Si Yang Ng
Lab 3
Braitenberg Vehicles
TAs:
Somchaya Liemhetcharat
Si Yang Ng

2. Who is Braitenberg?
Valentino Braitenberg

3. 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

4. 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?

5. Your Assignment Build a Braitenberg Vehicle that: Grading Criteria
Drives towards a stationary 60W light source
Stops autonomously or by switching off the light source
Grading Criteria
Each team is given three attempts
Points are awarded based on distance from light
Full score is awarded if distance is less than 6”
EXTRA CREDIT: Stops autonomously within 6” of the light source

6. Layout Robot will be placed 12-24” from light source
Robot can be angled at ±45º away from the light

7. 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

8. Demo Date Tuesday February 6th, 2007 During Recitation 3:30PM-4:20PM
In the Robot Education Lab (REL)
Please present a copy of the grading sheet to your grader at the demo

9. Questions?