| This is a simplified prototype
of
the Rovers, NASA's twin robot geologists. The mission was to map
solid objects in an unknown region to create a planar representation of
the area. We used a coordinate system to keep track of the robot position. The positional errors after each movement were corrected by navigation principles. Relative positions of the two light beacons and the distance from the robot to the wall (measured by an ultrasonic sensor) gave the robot enough information to figure out its position in the coordinate. The video is a demo of the robot mapping a rectangular object. |
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| The robot was controlled by a PC via
Bluetooth technology. The controller navigated the robot using the
information previously gathered. Using the ultrasonic sensor attached on
its head, the robot scanned for objects in the environment and send data
(distances from the object to itself) to the controlling station at the
PC. The PC then plotted the objects on the interface to provide more
information for the controller. Although most of the its actions were executed under the controller's commands, the robot's program was also included automatic mechanisms and behaviors to help it deal with unexpected situations (hitting the objects or the wall), blinded by the lights, etc... Robot was built with the LEGO Mindstorms. Programming language: Java Operating system: Lejos Team members: Tuan Bui, Steven Hung Under Prof. Roger Glassey's guidance Similar project: Obstacle Course Racer |
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Home page phantuan {at} berkeley.edu |
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