1. ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu

2. Overview Project Idea Challenges Initial Step Second Step Experimental Setup Results and Analysis Future Considerations Video Demo

3. Project Idea Navigate a robot to a desired destination with the help of a network of Tmotes. Avoid stationary obstacles in the path. Use a best path (determined by Dijkstra's algorithm) to reach the destination. Destination

4. Challenges Movement of the robot is not accurate Turning angle is not 90 deg. Going straight, it moves off the straight line Communication interface between base mote and MSP robot

5. Initial Step Established communication b/w network and robot Program grid mote to broadcast grid number and direction. Program the robot to get the direction. Have the robot positions in real time Position = grid number.

6. Second step Dijkstra’s algorithm for robot navigation in the best path. Build experimental setup with stationary obstacles.

7. Experimental Setup Define a grid of tmotes and obstacles. Robot uses Dijkstra’s algorithm to find a best path Robot follows the path and determines its position from the grid motes Assumptions: Robot have to face north direction Robot have to travel in a grid direction Obstacles are defined a priori 012 345 678 N

8. Results and Analysis (1) Direction: 1 straight, 2 left, 3 right, 4 back, 5 stop 012 Dest. 345 678

9. Results and Analysis (2) Direction: 1 straight, 2 left, 3 right, 4 back, 5 stop 012 Dest. 345 678

10. Future Considerations Add the feature for detecting and avoiding unknown obstacles. Build a real-time application of surveillance or data collection on reaching destination

11. Video Demo