1. Review and Ideas for future Projects

2. Projects with robots for teens. What we already discussed.
Line following robots
Y shaped lines for robots that drive to selected locations.
Robots following walls on corridors.
Algorithms for mazes:
Right Wall Following Algorithm (RWFA)
Left Wall Following Algorithm (LWFA)
Deterministic Switch from from RWFA and LWFA based on mapping the known part of maze to memory.
Variants of searching mazes to find an exit.
Deterministic and probabilistic combinational behavior based on input – output matrix and multiplication of matrix by vector.
Combinational and State Machine based Braitenberg Vehicles

3. Analysis of a Braitenberg robot with memory
LOGIC S1 J M1 Q M1 M2 K Q M2 S2
0= happy
1 =angry S1 S2 Q J K Q+ 1 S1 S2 Q Q+ M1 M2 1 S1 S2 Q Q+ M1 M2 1 S1 S2 Q Q+ 1

4. Analysis Analyze how this behaves in room with no light.
Analyze how this behaves in room with light on floor, oriented towards robot.
Analyze how this behaves in a maze.
Draw snaphsots of movie of robot position , orientation and internal state in time
0= happy
1 =angry S1 S2
LOGIC M1 M2

5. Maze
exit

6. Wall is on the left
Robots marks his motion for Left Wall algorithm in blue
exit

7. Robots maps its position in memory and now is back in the same point
Robots marks his motion for Left Wall algorithm in blue
exit

8. Robot moves to other wallX
Robot starts left wall following algorithm (wall at left)
Robot moves to other wall
Robots marks his motion for Left Wall algorithm in crosses X X
exit

9. Robot executes left wall following algorithm (wall at left)
exit

10. Robot executes left wall following algorithm (wall at left)
exit

11. Robot executes left wall following algorithm (wall at left)
exit

12. Robot found the solution to exit by changing the wall in the corridor but still using the left wall following algorithm (wall at left) X X X X X X X X X X X X X X X X X X X X X X X X X
exit

13. Projects with robots for teens
Robot finding cans and bringing them to safe place.
Robot attacking or escaping other robots.
Robots boxing.
Robots shooting one another.
Robots fencing.
Repeated Prisoner Dilemma for robots.
Repeated Chicken for robots.
Subsumption Architecture
Maze Searching
Genetic Algorithm
Tree search

14. Advanced Line Following

15. SENSOR ARRAY
7 sensors
Observe the order of variables from outside to the center
MINIMUM DISTANCE BETWEEN SENSORS IS 1cm

16. THE PRIORITY ENCODER Number of sensor as output 7 sensors as inputs
Problem:
Design such priority encoder as a circuit using Kmaps

17. THE NO SURFACE LOGIC A 1 NS signal = no line detected B C A A 1 B B CA 1
NS signal = no line detected B C A A 1 B B C C
NS signal = no line detected

18. INPUTS TO THE MICROCONTROLLER
NS signal = no line detected NS GS A2 A1 A0
STATE IN
ACTION 1 X
No surface is detected
Stop the motors
No line is detected
Execute the no line code (specially designed algorithm)
A detects the line
Sharp turn left
B detects the line
Sharp turn right
C detects the line
Turn left
D detects the line
Turn right
E detects the line
Move left
F detects the line
Move right
G detects the line
Go straight
Forbidden state
Software reset the processor

19. How this algorithm based on sensors works?

21. LINE FIND MODE

23. Generalizations Wall following Vision based Wall following
Labyrinth problems
Can collecting tasks

24. FLOW CHART

27. RESULT AND CONCLUSION The robot follows a line as demonstrated.
It effectively overcomes problems such as “barren land syndrome” and line breaks.
The hardware and software works as designed.

28. APPLICATIONS OF LINE FOLLOWING IDEAS
Industrial automated equipment carriers
Automated cars.
Tour guides in museums and other similar applications.
Second wave robotic reconnaissance operations.

29. LIMITATIONS
Choice of line is made in the hardware abstraction and cannot be changed by software.
Calibration is difficult, and it is not easy to set a perfect value.
The steering mechanism is not easily implemented in huge vehicles and impossible for non-electric vehicles (petrol powered).
Few curves are not made efficiently, and must be avoided.

30. …LIMITATIONS
Lack of a four wheel drive, makes it not suitable for a rough terrain.
Use of IR even though solves a lot of problems pertaining to interference, makes it hard to debug a faulty sensor.
Lack of speed control makes the robot unstable at times.

31. FUTURE SCOPE
Software control of the line type (dark or light) to make automatic detection possible.
“Obstacle detecting sensors” to avoid physical obstacles and continue on the line.
Distance sensing and position logging & transmission.