1. Obstacle Detection System for Wunderbot II Sonar and IR Sensors Members: Steve Sanko and Snehesh Shrestha

2. Problem ? To create a proximity detecting system capable of detecting obstacles from the prospective of a moving robot

3. Our Objectives To be able to detect one or more obstacles during the robot’s travel To be able to detect one or more obstacles during the robot’s travel Plot a virtual map of the obstacles in real time Plot a virtual map of the obstacles in real time Monitor terrain and clearance Monitor terrain and clearance

4. Proposed Solution Use Sonar sensors for detecting distant obstacles [Mid Range] Use Sonar sensors for detecting distant obstacles [Mid Range] Use IR sensors for detecting changes in terrain (drop off) and detecting near objects [Short Range] Use IR sensors for detecting changes in terrain (drop off) and detecting near objects [Short Range]

5. Sonar Sensors Device: Devantech SRF04 Sonar Device Device: Devantech SRF04 Sonar Device Principle: “Ping” is sent and echo is received. Distances is determined by time of flight. Principle: “Ping” is sent and echo is received. Distances is determined by time of flight. Assumption: If no echo is received within 30 ms then there is no object within range of the sensors Assumption: If no echo is received within 30 ms then there is no object within range of the sensors

6. IR Sensors Device: Sharp GP2D12 Infrared Object Detector Device: Sharp GP2D12 Infrared Object Detector Principle: Transmitted IR beam from one source is reflected back to the receiver. The distance is calculated by the triangle formed Principle: Transmitted IR beam from one source is reflected back to the receiver. The distance is calculated by the triangle formed

7. Processing Communicating with sensors through the OOPic II Plus Microcontroller

8. The End Any Questions ?