1. TAs Bruce Burnett Isaac Dekine Richard Juchniewicz
Lab 3
Braitenberg Vehicles
TAs
Bruce Burnett
Isaac Dekine
Richard Juchniewicz

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
Each team will construct their own Braitenberg Vehicle which is attracted to a stationary 60W light source
The robot must be able to navigate to within a 6” radius around the light source in one of the 3 two minute long attempts
Those robot which do not make it to within 6” of the light source will be awarded points based on their distance from the light source
Bonus points will awarded to those robots that stop with in the 6” radius without touching the light source

6. Constraints
The robot will be arbitrarily placed, by the TA, between 12”-24” from the light source.
Additionally, the robot will be angled slightly away from the light source, by the TA, at an arbitrary angle between ±45o

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 7th, 2006 During Recitation 1:30PM-2:30PM
In the Robot Education Lab (REL)
Please present a copy of the grading sheet to your grader at the demo

9. Questions?