Team Members: Dave Rudolph - Lead Web Designer Lead Programmer Samara Secor - Lead Analyst...
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Transcript of Team Members: Dave Rudolph - Lead Web Designer Lead Programmer Samara Secor - Lead Analyst...
Team Members:
Dave Rudolph - Lead Web Designer
Lead Programmer
Samara Secor - Lead Analyst
Documentation Specialist
Project Advisors:
Dr. Jerry Weinberg - CS Department
Dr. Engel - EE Department
EE Dept. Members:
Jason Range
Dan McGibney
CE Dept. Members:
Andy Penrod
Achu Pradhan
This year is the second year of this competition. The objective is to build a robot which will compete in the following challenge:
Qualification Round:
The robot must navigate through a maze in less that 20 minutes.
Competition Round:
The robot must navigate and map a maze and then race through the maze as quickly as possible.
• Robbie must find it’s way from entrance to exit within 20 minutes.
• Robbie must remember the path to get through the maze.
• Robbie must then run the race again using his memory and get to the exit as fast as possible.
• Must fit between walls 8 inches apart.
• Must be no taller that 12”.
• May not mark the track in any way.
• May not be connected to any external devices.
Agent – Anything that can be viewed as perceiving an environment through sensors and acting upon that environment through effectors.
Rational Agent – One that does the right thing.
•How do you evaluate success?
•When do you evaluate success?
effectors
environment
percepts
actions
agent
?
sensors
• Inaccessible: an agent can only perceive near-by stimuli and has limited attention
• Non-deterministic: the real world has a lot of uncertainty
• Dynamic: the environment is changing while the robot is reasoning and acting
PAGE descriptions – List the agent type, its percepts, actions, goals, and environment.
Agent Type Percepts Actions Goals Environment
Maze Racer Differences inlight, touch,
rotation clicks
Turn right orleft, drivestraight,
internal u-turn,mapping of
maze, followingOf map
Get throughmaze, be thefastest, map
maze &successfullyfollow map
Mazecontainingdirectionalchoices of
2 (no more, noless)
Finite State Machine
Assess Environment
Partition into Situations
Create Situational Responses
Import Behaviors to Robot
Run Robotic Experiments
Evaluate Results
Enahance, Expand, Correct Behavioral Responses
Done
Subsumption Architecture
•Also known as reactive planning.
•It can be implemented with either a table or set of condition-action rules.
•It is hierarchical in nature. The default behavior can be overridden by behaviors that have higher priority (those that would score more ‘points’ or bring it closer to the goal state).
Subsumption Architecture
int map() {
//multiple threadsopenLeft();openRight();deadEnd();arbitrate();return;
}
int openLeft() { while(1) {
if (opening on left){ Turn Left; Store 0 in map;}
} return;}
int openRight() { while(1) {
if (open on right){ store 0 in map;}
} return;}
int deadEnd() { while(1) {
if (deadEnd){ Virtual U-turn; Replace 0 w/ 1; !map next turn; turn left next;}
} return;}
Platforms:
The Lego Mindstorms RCX
+ Simplistic
- Limited Sensors and Motors
Handy Board
+ More Sensors and Motors
- Difficult to Program
LEGO Mindstorm RCX
3 Output or Motor Ports (A, B, C)
3 Input or Sensor Prots (1, 2, 3)
IR Transmitter/Reciever
The Handy Board
The Handy Board is based on the 52-pin Motorola MC68HC11 processor, and includes 32K of battery-backed static RAM, four outputs for DC motors, a connector system that allows active sensors to be individually plugged into the board, an LCD screen, and an integrated, rechargable battery pack. This design is ideal for experimental robotics project, but the Handy Board can serve any number of embedded control applications.
Advantages:
Nearly C++ functionality
Open Source Kernel
(adaptable to our needs)
Disadvantages:
Complexity of Program
Bugs in new language.
Advantages:
Simplistic
Easy to learn
Disadvantages:
Limited number of var.
Limited data types
Functionality not complex enough.
Evolutionary Model
• Lends itself to testing and improvement in several betas.
Benefits:
Downfalls:
•Difficult to apply to a timeline due to iterations.
Sensor Port Limitations:
We must find a way to use 5 sensors given only 3 sensor ports.
Robot Challenge:
RCX Robot vs. Handy Board Bot