1. Escaping the Maze Ezzat Leïla & Orthlieb Camille June 2010 Signals, Instruments and Systems

2. Steps of the project e-puck randomly placed in the environment Reach a wall Follow the wall reading the frequency using the IR sensors Link the found frequency and the localization Find the absolute localization Move around the world to find the final point

3. Description of the environment Simplification of the world E-puck turns always left E-puck follows the wall at equal distance Use of front and side sensors (0,2 and 5) Use of compass and GPS datas E-puck starts updating its position after a corner

4. Detection of changes of colors Response value sent after each time step Number of time steps stocked before each change of color Detection and storage of change of color

5. Link frequencies and location Detect frequency Update believed positions from the corner Deduce the wall Know from which corner he starts Find the good believed position

6. Like in maze… From a known position, find the final point – the maze’s escape

7. Effect of noise on the IR sensor Front Sensor : to move and turn 1% of noise doesn’t change anything 10% the robot can’t follow the wall Right sensor : to detect frequency 30% of noise doesn’t affect the measures 50% doesn’t detect any change of color

8. The movie

9. Conclusi on Main objectives reached Our findings have to be improved in order to escape a real maze Make a code enought flexible to reproduce many times the lecture of frequencies and update positions Revise the stability of the detect values Face more random situations Appreciations