Date post: | 18-Aug-2015 |
Category: |
Documents |
Upload: | ali-uelkue |
View: | 7 times |
Download: | 4 times |
Maze Solver Robot Using Wall-Following Algorithm
By: Ali Ulku & Vardah MuhammadSupervized By: Dr. Mehmet Keskinoz
24.05.2015
Outline
• Introduction
Lego Mindstorm Construction Pack
Completed View
Wall-Following Algorithm
Different Types of Circuits
• Algorithm
Pseudo Code
Initialization Block
1st If Block
2nd If Block
Move Forward Block
Turn Right/Left Block
Medium Motor Turn Right/Left Block
Logic
• Result
Robot in the Maze
Escape Route on Matlab
5
Introduction
Lego Mindstorm Construction Pack
Main Hardware:
• EV3 Brick (300 MHz ARM9 Controller)• 2 Large Motors• 1 Medium Motor• Infrared Sensor• Subassemblies
Comments
7
Introduction
Wall-Following Algorithm
Comments
Wall-Following Algorithm
•Follows the Right Hand Wall Rule•Simple•Fast•Unique Solution•Works for Open Circuits•No need for Memory Storage•Parameters can be easily controlled
10
Algorithm
Pseudo Code
Pseudo Code Blocks
Initialization Block
Turn Right/LeftBlock
Medium MotorTurn Right/Left
Block
2 If Blocks
Move ForwardBlock
11
Algorithm
Initialization Block
• Initializes x, y position and direction• Used to generate trajectory of robot and maze map
Comments
12
Algorithm
1st If Block
• Reads from Infrared Sensor• Checks if there is a wall on the right
Reading of less than 15 indicates that wall is present
Comments
14
Algorithm
Move Forward Block
• Moves robot forward by 1 step (pre calculated)• Updates its direction• Direction:
1: forward 2: right 3: backward 4: left
Comments
17
Algorithm
Medium Motor Turn Right Block
• Medium motor holds the infrared sensor• Turns medium motor to the right
Add 90 to reading to get rid of drift• Uses proportional gain of 0.5 to reduce accumulated error
Comments
18
Algorithm
Medium Motor Turn Left Block
• Turns medium motor to the left Subtract 90 from reading to get rid of drift
• Uses proportional gain of 0.5 to reduce accumulated error
Comments
19
Algorithm
Check Right
No wall (proximity>15)
Wall (proximity <15)
Turn Right & Move Forward
Logic
Check Front
Move ForwardNo wall (proximity>15)
Wall (proximity <15)
Turn Left and Repeat from the start
22
Result
Robot’s Escape Route on Matlab
• Red and straight lines show the borders of the maze Achieved by combining direction information
• Blue and dashed lines show the route that our robot traveled only once
• Blue and straight lines show the route that our robot traveled back and forth Achieved by combining position and direction
information
Comments