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Published byAlexander Blake Modified over 8 years ago
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The Sentinel Designed by Aleksandras Kaknevicius Intelligent Machine Design Lab Fall 2011 TAs: Ryan Stevens & Tim Martin Dr. Eric M. Schwartz & Dr. A. Antonio Arroyo
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Basic Description The Sentinel should be able to successfully safeguard a doorway or hallway, blocking intruders or alerting others when an intruder has tried to pass it. If the passerby is friendly, he/she will be able to produce a pattern of four audible frequencies and the robot will allow passage.
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Sensor List Microphone with Preamplifier x1 Pyroelectric Sensors x 2 Sonar Rangefinders Maxbotix LV-MaxSonar-EZ0 x 2 Maxbotix LV-MaxSonar-EZ4 x 1 Bump Switches x 2
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Sensor List Microphone with Preamplifier x1 Pyroelectric Sensors x 2 Sonar Rangefinders Maxbotix LV-MaxSonar-EZ0 x 2 Maxbotix LV-MaxSonar-EZ4 x 1 Bump Switches x 2
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Microphone Preamp Design
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Frequency Detection
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Initial Detection & Tracking Two Pyroelectric Sensors Rangefinder Sensor Tracks and stays in front of approaching target.
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Revised Detection & Tracking
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Obstacle Avoidance Sonar Rangefinders Maxbotix LV-MaxSonar-EZ0 x 2 Based on distance difference between the two sensors. If both sensors read a close distance, an obstacle is directly ahead, and the robot needs to turn fast to avoid it. If the one sensor reads a close distance, and the other reads a far distance, then a lesser turn is required.
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Final Product
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