ROBOT NAVIGATION

By: Sitapa

Rujikietgumjorn Harika Tandra

Neeharika Jarajapu

Overview Project Idea Challenges Initial Step Second Step Experimental Setup Results and Analysis Future Considerations Video Demo

Project Idea Navigate a robot to a

desired destination with the help of a network of Tmotes.

Avoid stationary obstacles in the path.

Use a best path (determined by Dijkstra's algorithm) to reach the destination.

Destination

Challenges

Movement of the robot is not accurate Turning angle is not 90 deg. Going straight, it moves off the

straight line Communication interface between

base mote and MSP robot

Initial Step

Established communication b/w network and robot Program grid mote to broadcast grid

number and direction. Program the robot to get the direction.

Have the robot positions in real time Position = grid number.

Second step

Dijkstra’s algorithm for robot navigation in the best path.

Build experimental setup with stationary obstacles.

Experimental Setup Define a grid of tmotes and

obstacles. Robot uses Dijkstra’s

algorithm to find a best path Robot follows the path and

determines its position from the grid motes

Assumptions: Robot have to face north

direction Robot have to travel in a grid

direction Obstacles are defined a priori

0 1 2

3 4 5

6 7 8

N

Results and Analysis (1)Direction: 1 straight, 2 left, 3 right, 4 back, 5 stop

0 1 2 Dest.

3 4 5

6 7 8

Results and Analysis (2)Direction: 1 straight, 2 left, 3 right, 4 back, 5 stop

0 1 2 Dest.

3 4 5

6 7 8

Future Considerations

Add the feature for detecting and avoiding unknown obstacles.

Build a real-time application of surveillance or data collection on reaching destination

Video Demo