MICEBOT4/18/2013EEL4665

Spring ‘13University of Florida

Leonardo Falcon

Goals

Create an autonomousthat reaches a specificrelative location as performing obstacle avoidance. Show precise movementspossible with the tracking capabilities of optical mousesensors.

GoalsBehaviors:1. Going Straight.2. Measuring angles.3. Moving in the form

of a shape.4. Remembering a

trajectory.5. Use trigonometry

to reach a target.

Problems Encountered

Drift/Accumulation of error.

Algorithm for reaching a target as getting around obstacles.

Sonar Range.

Advantages/Disadavnages as a navigation sensor

ADVANTAGES DISADVANTAGES

No slippage error as in shaft encoders.

Measures very fine movement.

Registers yield 2 dimensional displacement.

Registers must be read very often to prevent saturation.

Overflow error at high speed.

Must be mounted in very close proximity of a flat surface.

Future Work

Send back information about location reached(i.e. images, temperature).

Second source of navigation data to further increase accuracy.

Algorithm for finding a more effective route on a second run.

Questions?