Localizing the maximum in an environmental field using a mobile
sensor Signals, Instruments & SystemsSara Oppenheimer &
Bruno Spahni
Slide 2
Plan Goal Experiment Results Conclusion
Slide 3
Goal |Experiments |Results |Conclusion Light (20W) Goal of the
Project: Finding the location of maximal light in an environmental
field. Tools: E-Puck -Go to the Light -LED indicate lights
direction - Stop near the light source - All LED turn on Two main
steps:
Slide 4
Methodology of the robot: 1. Measures environmental
informations 2. Analyses the data 3. Wheels and LED reaction 4.
Stops if its near light Goal |Experiments |Results |Conclusion
Slide 5
An e-puck with: -8 IR sensors (we only use the receptor
function) { i=0; for(i = 0;i
Goal |Experiments |Results |Conclusion Go to the Light (2
Methods): 1 st : Create two variables with the sum of the right and
left sensors values respectively. The robot follows the direction
of the lower addition value if(bufD > bufG){
e_set_speed_left(50); e_set_speed_right(100); } else{
e_set_speed_left(100); e_set_speed_right(50); } bufD =
sample_buffer[0] +sample_buffer[1] +sample_buffer[2]
+sample_buffer[3]; bufG = sample_buffer[4] +sample_buffer[5
]+sample_buffer[6] +sample_buffer[7];
Slide 7
Goal |Experiments |Results |Conclusion Go to the Light (2
Methods): 2 nd : Find the sensor with the minimal value Give a
particular direction to the wheel for each sensor min = 8000;
for(i=0;i