Localizing the maximum in an environmental field using a mobile sensor

Localizing the maximum in an environmentalfield using a mobile sensor

Signals, Instruments & SystemsSara Oppenheimer & Bruno Spahni

1PlanGoalExperimentResultsConclusion

2Goal |Experiments |Results |ConclusionLight (20W)

Goal of the Project:Finding the location of maximal light in an environmental field.Tools: E-PuckGo to the LightLED indicate lights direction- Stop near the light source- All LED turn onTwo main steps:3Methodology of the robot:

1. Measures environmental informations2. Analyses the data3. Wheels and LED reaction4. Stops if its near lightGoal |Experiments |Results |Conclusion

4

Goal |Experiments |Results |Conclusion

An e-puck with:8 IR sensors (we only use the receptor function) { i=0; for(i = 0;i bufG){e_set_speed_left(50);e_set_speed_right(100);}else{e_set_speed_left(100);e_set_speed_right(50);}

bufD = sample_buffer[0] +sample_buffer[1] +sample_buffer[2] +sample_buffer[3];

bufG = sample_buffer[4] +sample_buffer[5 ]+sample_buffer[6] +sample_buffer[7];

6Goal |Experiments |Results |Conclusion

Go to the Light (2 Methods):2nd: Find the sensor with the minimal value Give a particular direction to the wheel for each sensor

min = 8000; for(i=0;i