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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
