1. DO NOT FEED THE ROBOT

2. The Autonomous Interactive Multimedia Droid Bradley University Department of Electrical and Computer Engineering EE-452 Dan Leach and John Hathway Advisor: Aleksander Malinowski March 8th, 2004

3. Outline Overall Progress Navigating Finding Waypoints Interface To Robot Accessing Waypoint Data Implementation Upcoming Work Questions

4. Navigation

5. Waypoints

6. Graphical User Interface

7. //Index,Name,Floor,Lane,X,Y,Min Dist.,Max Dist.,Can Go Forward, //Can Go Backward,Crosses To,Is A Stop,Is A Patrol,Manual Commands 0,Origin,3,1,0,0,50,100,1,0,0,1,1,0; 1,B,3,1,0,0,50,100,1,0,0,1,1,0; 2,C,3,1,0,0,50,100,1,0,0,1,1,0; Accessing Waypoint Data

8. Waypoint Detection Doorframes, open hallways, wall drop offs Waypoint checked every 300 ms using one sonar transducer

9. Drift Correction X Y’ -2Θ-2Θ Y Wall Θ Guidebot is designed to follow a straight path to its destination Problems with drift have been observed and a method for correction has been devised using trigonometry

10. Drift Correction

11. Waypoint Patrol The waypoint patrol code function was written to demonstrate Guidebot’s ability to keep track of its position and find waypoints. Guidebot was programmed to patrol the hallway in a designated path which included crossing the hallway twice within each loop Made three complete paths around the patrol loop before it was too far off track to find the proper waypoint.

12. Upcoming Work Implement entire interface in Flash Map hallway and implement waypoint path Collision avoidance / course correction Interface interaction / motion sensing

13. Questions?