1. A Robot mapping a series of hallways
Isaac Rieksts
Name
I am working on making a maze in which to have a robot navigate.

2. Introduction Why this project? My Simulator Local Map
Recognize Openings
Making a turn
Follow directions
Mapping
Adding some AI

3. Why this project? Summer internship Worked with Dr. Roppel
Divided into 2 groups
3 person team for simulator

4. My Team
Adam and steve

5. My simulator The program is only in simulators Player Stage
Runs only on Linux

6. Summer programs Wall Avoid Following the leader Speed algorithm
Turn algorithm

7. How to turn the range to points
X = cos(q) * r
Y = sin(q) * r

8. Turn sonar into X, Y points
dist = sqrt((x2 - x1)2 + (y2 - y1)2).
This allows us to use the Law of Cosines to get the angles a and g.
a = cos-1(OB2 + AB2 – OA2 / (2 * OB * AB))
g = cos-1(OB2 + BC2 – OC2 / (2 * OB * BC))

9. How we get the angle dist = sqrt((x2 - x1)2 + (y2 - y1)2).
This allows us to use the Law of Cosines to get the angles a and g.
a = cos-1(OB2 + AB2 – OA2 / (2 * OB * AB))
g = cos-1(OB2 + BC2 – OC2 / (2 * OB * BC))

10. The Local Map

11. Recognize Openings

12. About to turn

13. Making a turn Had a lot of trouble with this
First tried a turn algorithm that was generic
To solve this calculate the distance to end of turn

14. Current Turning Starts with a non-sharp turn
Increases the amount it turns as it goes
At the half way point decreases the amount it is turn
Thus finished the turn with a non-sharp turn

15. Turning

16. Possible ways to fix turn
Use a constant speed
Change algorithm from a linear one to an exponential algorithm
Use the side sensors to avoid hitting the walls on the side

17. Follow directions
This is useful for testing the algorithms I have just talked about
Recognizing Openings
Making a turn
This is also used for testing the map

18. Mapping Drop a robot into a new environment
It will go through all possible hallways and make a map of them
I am using x, y points for each node

20. Final step (putting some AI behind it)
Basic alg.
Go Straight if can
Else turn right
Else turn left
Backtracking
If it comes to a node it has been to before. Then it will go back to last node missing an arc