AugBot
Version 2
by Léo Walton, Richard Garnett
If the below is too "techy" try this alternate description
Objective:
AugBot is designed using the Reactive paradigm; given any line with various curves, angles, straight portions, AugBot will follow this line. AugBot will also navigate around obstacles in the path and will re-locate the line on the other side of the obstacle.
Hardware Design:
AugBot is composed of silicon and plastic. AugBot is constructed of Lego blocks and uses a Handyboard to control the motors and sensors. There are two mid wheels that are driven by the Handyboard. Under the rear of AugBot is a knob, which allows AugBot to pivot quickly.
Initially AugBot has two photo sensors, an infrared sensor and a tactile sensor. The left photo sensor will be aimed toward the left side of the line. The right photo sensor will be aimed directly on the line. These photo sensor placements will enable AugBot to detect when the line curves. The infrared sensor looks forward to locate obstacles. The tactile sensor is placed towards the front right hand side of AugBot. Both the infrared and tactile sensors direct object avoidance behavior.
Software Design:
The Reactive paradigm is used to control AugBot via the Handyboard. The behaviors that AugBot have are follow line, avoid obstacle, and re-locate line. The follow line behavior allows AugBot to navigate the line regardless of hardware limitations or failures. If an obstacle is sensed from the infrared sensor, the avoid obstacle behavior will suspend follow line until AugBot successfully navigates around the obstacle. The re-locate line will then re-orientate itself on the line and follow line will continue.
Environment Design:
White ground with a black path 6 Lego increments wide (1.5”). More light is necessary than ambient, the lights in the room should be on. All obstacles should be 18 Lego increments tall (4.5”) to ensure the infrared sensor adequately senses the obstacle.
States of AugBot:
© Copyright 2006 Richard Garnett & Leó Walton. All Rights Reserved.
Objective
AugBot is designed to follow any line with various curves, angles, straight portions. AugBot will also navigate around obstacles in the path and will re-locate the line on the other side of the obstacle.
Hardware Design:
AugBot is composed of silicon and plastic. AugBot is constructed of Lego blocks and uses a Handyboard to control the motors and sensors. There are two mid wheels that are driven by the Handyboard. Under the rear of AugBot is a knob, which allows AugBot to pivot quickly.
AugBot has two photo sensors to detect light reflected from the ground surface and the line. He also has an infrared sensor to detect obstacles and a bump (tactile) sensor to detect if he is bumping into an object. The left photo sensor will be aimed at the ground toward the left side of the line. The right photo sensor will be aimed directly on the line. These photo sensor placements will enable AugBot to detect when the line curves. The infrared sensor looks forward to locate obstacles. The bump sensor is placed towards the front right hand side of AugBot. Both the infrared and bump sensors direct object avoidance behavior.
Environment Design:
White ground with a black path 6 Lego increments wide (1.5”). More light is necessary than ambient, the lights in the room should be on. All obstacles should be 18 Lego increments tall (4.5”) to ensure the infrared sensor adequately senses the obstacle.