1. SurveyBOT Final Report Chris Johnson Miguel Lopez Jeremy Coffeen July 24, 2003 Georgia Institute of Technology School of Electrical and Computer Engineering

2. SurveyBOT Goals ► An autonomous mobile robot ► Guided in part by Differential GPS (DGPS) ► Capable of graphically mapping unknown terrain

3. Project Elements ► Behavioral Control Software ► Communications Software ► DGPS Receiver ► Mapping Software ► AmigoBOT, GPS, PC, and DGPS interfacing Software Design (C++) Hardware Layout

4. DGPS Receiver

5. Behavior ► Move towards intermdiate goals, zig-zagging across a rectangular area ► Avoid obstacles encountered along the way EndStart

6. Traverse Room Algorithm

7. Navigation Vector Response ► The trajectory of the robot is determined by a sum of vectors produced by obstacles and the goal. ► Vectors are constantly updated as the robot moves

8. Velocity Functions for Navigation

9. Mapping ► Create a simple B/W map with 1-foot resolution ► Uses PGM (Portable Grayscale Map) format Sample Map Outputs

10. Communications ► Serial communication with AmigoBOT and GPS at 9600 bps ► AmigoBOT communications handled in background using windows threads ► MGC4C DLL calls used to retrieve GPS position data

11. Initialization

12. Obstacle Avoidance

13. Heading Towards Goal

14. Project Timeline Legend Expected Duration Actual Duration

15. Questions????