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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
mouse position feedback
|rotating sensor platform
two stepper motors
|Control Method||Power Source|
|CPU Type||Operating System|
|Time to build||Cost to build|
|URL for more information|
|The robot basically consists of a platform mounted on two
stepper motors which function as the wheels. The robot has a 8052 microcontroller with 64 Kbyte RAM and ROM.
Although it is controlled from a PC through the serial port, autonomous navigation is also possible by programming the EPROM on board.
The system is flexible and can be configured by the software on the PC for specific experiments in terms of maximum speed, acceleration, deceleration etc. of the robot.
The platform carries a rotating ``sensor head'' on which sonar and infrared sensors are mounted. Infrared sensors indicate presence or absence of obstacles in ranges less than 30 cm.
The sonars can estimate the object's range and azimuth for medium ranges. The robot updates its position by employing an ordinary computer mouse located underneath and is capable of dynamic obstacle avoidance.
It estimates the range, azimuth and velocity of a moving obstacle, and takes avoiding action in order to reach its destination by following the shortest possible path