IESS Lab Final Presentation!!

Robot ProgrammingTeam Enigma

Ariana Mirian, Computer Engineering

Jinhao Ping, Computer Science

Rossen Pomakov, Electrical Engineering

Nikki Schumaker, Computer Engineering

Lindsey Stolzenfeld, Computer Engineering

Topics• Polulu M3PI Robot

• Demonstration

• Part I: Kiva Robot Imitation• Getting started with Basic Testing• Simple Line Following• Intersections• Bluetooth Communication• Automated Intersection Detection• Dual Modes of Operation• Sharp Turns and Speed Vs. P control

• Part II: Extremum Seeking Controller• Simulation• Cosine Shaped Path• High-Pass Filter and Perturbation• Smoothing Factor

Polulu M3PI Robot

• Screen• Bluetooth Module• Light Sensors• Two Wheels

• Coded in C++

Demonstration

Kiva Robot Imitation

Kiva Robots• Used by Amazon

• Warehouse Automation

• Utilize Magnetic Strips

Tracks

Basic Testing• “BetaCalibrationLine”• Auto-Calibration• Black vs. White threshold is approximately 300

Simple Line Following

Line Position Function

P Control

Custom Line Position Function

Sharp Turns, P control and Speed • Turns greater that 90°

• Original Line Position Function• Five Sensors for line detection on far left or right

• P control value• Lower value for reliability• Higher value for speed

Intersections• Detection intersections

• Position Tracking

• Intersection Functions

Automated Intersection Detection

• Multiple Samples

• Compares data values to determine possible directions

Bluetooth Communication• Establishes a wireless

link between robot and computer

• Two-way communication

• Creates a more user responsive robot

Dual Modes of OperationManual Mode

• Asks for directions at detected intersections

• Error returned to terminal if invalid direction is input

Automatic Mode• Asks which storage unit

it should navigate to

• Asks for directions again upon arrival

Extremum Seeking Controller

Map of Extremum Gradient

Cosine Shaped Path

Extremum Seeking Controller• Find and follow the

largest change in gradient field

• Simulate sinusoidal path of movement

• Use controller to adjust direction

• Utilize additional controller to smooth movement

Simulation• Control system was

simulated using Matlab

• Calibration of variables made simpler

Summary Part I

• Simple line following program

• 90° turns and intersection detection

• Bluetooth communication

Part II

• Robot Extremum Seeking Controller operation

• Gradient following program

• Operation using simulation results

Contact InformationAriana Miran

Jinhao Ping

Rossen Pomakov

Nikki Schumaker

Lindsey Stolzenfeld

- amirian@umich.edu

- jinhping@umich.edu

- ropomak@umich.edu

- nikvsch@umich.edu

- lstolz@umich.edu