1. GraffitiBot Final Report
Andy Kobyljanec
EEL 5666C April 15, 2008

2. Introducing GraffitiBot
GraffitiBot is an autonomous robot capable of operating a can of spray paint
GraffitiBot can also navigate around while avoiding obstacles

3. Physical Characteristics / Sensors
Size
12” x 8.5” x 7”
Weight
~2 lbm
Propulsion
2 modified Hitec HS-311 Servos
3.5” wheels
Spray Paint Mechanism
Hitech HS-311 Servo
Material
Sintra PVC foam board
Microcontroller
ATMega 128 Mavric II-B board
CdS Cells 4
Color detection below Robot
Sharp IR Range Sensors 2
Obstacle detection

4. GraffitiBot Behaviors
Initialize
Initial CdS cell readings of environment
Determine its own color
Randomly determine it’s own ‘tag’
Shake the spray paint can
Begin Roaming
Drive straight ahead
Avoid obstacles
Paint markings on ground
Evade Police
(not really)
G-Bot
G-Bot
G-Bot

5. GraffitiBot Tags
Tags are pre-programmed design sequences selected by GraffitiBot on initialization

6. Accomplished Goals of GraffitiBot
Status
Drive about
Success
Operate can of spray paint
Great success
Obstacle Avoidance
Functional—but working on improving
Create multiple GraffitiBots
Fail
Not destroy microcontroller