4/18/2013 EEL4665 Spring ‘13 University of Florida Leonardo Falcon.
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MICEBOT 4/18/2013 EEL4665 Spring ‘13 University of Florida Leonardo Falcon
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Transcript of 4/18/2013 EEL4665 Spring ‘13 University of Florida Leonardo Falcon.
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?
