Nutmeg By: Harika Parvathareddy Sneha Cheturvedula Divya Balakrishnan.
ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu.
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Transcript of ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu.
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