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Project Micromouse : “ Microtaur ”. Team Excelsior. Team Lead Janel Raab Team Members Devon Griggs Devin Helmgren Emilia Holbik Faculty Advisor Dr. Wayne Lu Industry Representative Leon Clark, Urban Robotics Client: Dr. Wayne Lu. Project Overview. Milestones. - PowerPoint PPT Presentation
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Project Micromouse:“Microtaur”
Team Excelsior•Team Lead
▫Janel Raab•Team Members
▫Devon Griggs▫Devin Helmgren▫Emilia Holbik
•Faculty Advisor▫Dr. Wayne Lu
•Industry Representative▫Leon Clark, Urban Robotics
•Client:▫Dr. Wayne Lu
Project Overview
MilestonesStatu
s Description Due Date
Completed
Completed
Drives straight and stops (without IR
sensor recognition)1/24/2014 1/17/2014
Completed
Turns 90 degrees (accuracy within 2
degrees)1/24/2014 1/24/2014
Completed
IR inputs converted from analog to digital 1/31/2014 1/29/2014
Completed
Recognizes presence/absence of
wall1/31/2014 1/31/2014
Milestones ContinuedStatus Description Due
DateComplete
dComplete
dTuple generated on
device, and hardcoded decision executed
2/14/2014 1/31/2014
Completed
Four step polling sequence
implemented, and tuple decisions nested
2/14/2014 1/24/2014
In Progress
February Program Review
2/14/2014 2/14/2014
In Progress
Autocorrect code prevents collision with
walls for 7 minutes2/21/201
4
Upcoming Milestones
Description Due Date
Estimated Completio
nAI agent makes forced decision (1 option) on
hardware2/17/2014 2/17/2014
AI agent makes decision between 2 options on
hardware2/19/2014 2/19/2014
AI agent makes decision between 3 options on
hardware2/21/2014 2/21/2014
AI agent returns from a dead end 2/28/2014 2/28/2014
And we’ve got our tickets!!!
1 2.5 3.5 5 7 9 11 13 15 17 190
200
400
600
800
1000
1200
IR Sensor to CM Conversion Chart
Front IR SensorLeft IR SensorRight IR Sensor
Distance from Wall (CM)
Dig
ital
Val
ue
Demo 1: Robot in Small Maze•http://youtu.be/DfPlyiX8KvY
Improvements/Concerns•Autocorrect in steps 1, 2, 4 of poll•Post-turn autocorrect•Emergency stop wall collision
▫Left sensor▫Right sensor
•Tuple recognition accuracy vs. navigation accuracy
…Eventually add a gyroscope!
Demo 2: Agent in Virtual Environment•http://youtu.be/QBK3F6fkazk
Improvements/Concerns•Dead end pruning•Loading agent code to hardware
▫C++ compiler PIC Microcontroller compiler
•Tuple recognition accuracy
Other Concerns
Gaps in big maze!
Conclusion•March 17th in
Fort Worth, TX•Crunch time!
QUESTIONS?