1. Xueyu(Sherry) Du Mechanical and Aerospace Engineering University of Florida 4/10/2014 ZENITH: A ROBOT THAT CAN AUTOMATICALLY CLIMB UP THE STAIRS

2. 1 I ntroduction 2 P roject goal & Tasks 3 S ystem Implementation C ontents 4 C urrent Progress 5 C onclusion

3. I ntroduction 1 UNFIT FOR HUMAN Toxic Substance Explosive Decrepit House Historical Sites Battlefield

4. P roject goal & Tasks 2 θ Goal: Finding stairs and adjusting driving direction for the robot to climb up Tasks: Randomly walking; Obstacle Avoidance; Finding colored label; Aligning to the center line; Moving to the idea direction; Climbing up stairs d

5. S ystem Implementation 3

6. Tracks S ystem: Components

7. P rogramming: Image Processing

8. P rogramming: Motion Control Randomly walking; Obstacle Avoidance; Adjusting to align to the center of the label; Turning a certain angle Walking a certain distance

9. 4 C urrent Progress Frame of trends fully designed & assembled; Chassis fully designed & assembled; Obstacle avoidance achieved; Color detection & tracking centroid XBee communication Motion control achieved

10. 5 C onclusion Current status: 80% complicated; Major problems: sensor errors; Future development: accuracy controlling

11. Question?