2. Robotics Intensive: Day 4 Gui Cavalcanti 1/17/2012

3. Class Goals 1.Demo and Discuss Control Systems 2.Break Up Into Teams 3.Top-Level Design

4. Time To Show Off!

5. The Mission

6. Project Description 1.Implement the basic line following algorithm from the mbed Cookbook. 2.Implement the PID line following algorithm from the mbed Cookbook. 3.Demonstrate identification of and use of intersections. 4.Demonstrate travel to every branch of the map.

7. Bonus Points Fastest time Ability to travel to a specific intersection Ability to travel to a specific intersection by more than one route Demonstrate (software-based) object detection

8. Control System Discussion How do you handle intersections? How do you handle blind alleys? What does your robot know about the map? How robust is your program to disturbances? What would you do differently if you got to design the robot and the line from scratch?

9. Feedback

10. Break Up Into Teams

11. Conceptual Design

12. 1.Establish fixed requirements – Build envelope – Component selection and requirements – Environmental restrictions 2.Estimate performance capabilities – Power draw and operating time – Ground speed – Payload (if any) 3.Nice-To-Haves

13. Fixed Requirements Build Envelope – Maximum component dimensions – Component weight Major Component Selection – Design and selection of critical components

14. Fixed Requirements Estimated Size: Estimated Weight: Estimated Power Draw:

15. Fixed Requirements Environmental Restrictions – Walk the robot’s path with a tape measure Minimum width measurement Maximum width measurement – Types of obstacles – Potential starting points/home bases

16. The Mission

17. Robot Performance Estimation: – Ground speed? – Sensing distance? – Sensing type? – Stopping time? – Mission time? – Recharge time?