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Anthony DiVirgilio

Robot obstacle detection system - iRobot Corporation - 1 views

  • This invention relates to an obstacle detection system for an autonomous cleaning robot
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    This is the patent for the object detection system from irobot corporation
Declan Coen

PID Controller For Lego Mindstorms Robots - 7 views

  • light sensor "sees white" then we know it is left of the line's edge (and the line). If it "sees black" then we know it is to the right of the line's edge (and on the line). This is called a "left hand line follower" since it is following the line's left edge
  • We need to know what values the light sensor returns when it "sees white" and when it "sees black". A typical uncalibrated sensor might give a "white" reading of 50 and a "black" reading of 40 (uncalibrated, on a 0 to 100 scale). It is convenient to draw the values on a simple number line to help visualize how we convert light sensor values into changes in the robot's movement.
  • Below are our made up light values for white and black.
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  • We'll just divide the range into two equal pieces and say that if the light level is less than 45 we want the robot to turn left. If it is greater than 45 we want to turn right. I won't go into how exactly the turns should be done. I'll just say that gentle turns work well for a fairly straight line
  • line with lots of curves usually needs to be making sharper turns. For gentle turns you might use Power levels of 50% on the fast wheel and 20% on the slow wheel. For sharper turns on a curvy line you might need to use 30% power for the fast wheel and coast or brake the slow wheel. Whatever power levels you use the numbers will be the same for the two turns, you just switch which motor gets the big number and which get the smaller number (or a stop command).
  • This type of a line follower will follow a line but it isn't very pretty. It looks OK on a straight line with with the motors programmed for gentle turns. But if the line has any curves then you have tell the robot to use sharper turns to follow line. That makes the robot swing back and forth across the line. The robot only "knows" how to do two things; turn left and turn right. This approach can be made to work but it is not very fast or accurate and looks terrible.
  • In the above approach the robot never drives straight, even if it is perfectly aligned with line's edge and the line is straight. That doesn't seem very efficient does it? Lets try to fix that. Instead of dividing our light value number line into two regions lets divide it into three.
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    seems useful for following a line effectively
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    this is a really good technique
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    the top of this article explains how it would be easier to follow the edge of the line rather than the center of the line. As it detects the white it will turn back to the black and as it detects the black it will turn back to the white.
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    i found the edge thing on another site too
Anthony DiVirgilio

iRobot - Dirt Detect - YouTube - 1 views

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    how the dirt detection works
Alexander Laferriere

touch sensor - 1 views

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    this shows why using the tutch sensor is a good idea to detect walls
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    it seems that the robot is using a sensor on top of itself. this can be helpful because it can detect cilffs faster but it will detect them too soon and turn away. therefore, it won't clean everything. in my opinion we should place the sesors in front and not on the top
Anthony DiVirgilio

iRobot - cliff detection - YouTube - 2 views

    • Anthony DiVirgilio
       
      This is a good video to show how the cliff detection works
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    it shows how the roomba uses the infared sensors to detect cliffs and dropoffs. the robot expects to recieve signals from the floor and if the signals take too long to get back to the robot such as driving over stairs, the roomba will stop and go in a different direction
Alexander Laferriere

cliff detection - 1 views

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    this shows a robot detecting cliffs
Joshua Wilkinson

Line Detection - 9 views

it would work on the other tracks if the robot dosent drive off the line a lot.

Thomas Helm

Avoiding Falling off - 5 views

i agree a lot with declan, by how everyone is looking most people are going to be using ramps so im gonna try and find something better

light sensor

Andrew Drogan

My Library - 2 views

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    if a light source is detected on the left of the robot, the left motor will speed and the robot will veer away from the light source.increahttp://gicl.cs.drexel.edu/wiki-data/images/7/72/LearningRoomba-SensorsActuators-StudentsGuide.pdfse
Joshua Wilkinson

iRobot Corporation: Customer Care - Service/Support - 5 views

  • equipped with four infrared Cliff Sensors that prevent robots from falling off stairs or ledges. The Cliff Sensors are located along the inside of the bumper
  • . If the Sensors become obstructed by dust or debris, the infrared signal is weakened
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    how cliff detection works and what kind of sensors are used
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    this is good to know for when you need to pick a spot to but your sensors
Anthony DiVirgilio

LEGO.com MINDSTORMS : Products - SENSORS - 9846 - 2 views

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    this sensor is able to detect proximity
Andrew Drogan

Cliff detector - YouTube - 1 views

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    This is a good video that has to do with cliff detection .
Joshua Wilkinson

iRobot Corporation: Customer Care - Service/Support - 0 views

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    dirt detection and how it works
Anthony DiVirgilio

Wall Follow Behavior Demonstration - YouTube - 5 views

    • Anthony DiVirgilio
       
      the wall following robot is much more efficient in its cleaning
    • Thomas Helm
       
      it shows how it knows what to do near a wall
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    great video for wall detection and how the robot will make its way through obstacles.
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    very good demenstartion and helped me understand how the wall detection move
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    it helps show how the robot will travel until it reaches a wall to clean. Then from there it continues to travel along the wall until it is clean. Also, it helps show the perimeter of the room.
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    it looks like the grey one has something wrong with it
Thaddeus McKeon

Google Image Result for http://www.vincentolislagers.nl/blog/wp-content/uploads/2010/03... - 7 views

    • Thaddeus McKeon
       
      could pivot constantly, almost like radar
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    3rd motor used as an ultrasonic pivot graet for scanning
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    this looks very useful and easy to add to what we allready have
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    there are touch sensors on the front which are attached to angled levers which help the robot detect objects from different angles
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    Hi thad from LiNsey
Alexander Laferriere

chowmillersumobots - 8 views

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    the robot designs on this page are possible for our criteria. the majority of them have a ramp like structure on the front for pushing and flipping
  • ...3 more comments...
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    the ramp on the front seems to be the easiest way to win based on other designs ive seen.
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    this has some good ideas
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    the terminator looks like a fun approach to this project
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    i wish i could see some of the videos but i cant right now i wanted to see if thee were any changes to ramp in general
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    the sumobotofdestruction looks cool and doable
Joshua Wilkinson

NXT Line Follower - 2 views

  • When line following, the robot will try to align itself centered over the boundary between white and black (not centered over the black line), with black to the robot's left.  Here the brightness seen by the sensor is halfway between the black/min and white/max readings
    • Joshua Wilkinson
       
      This would be useful since we get the value when its over the tape and table, we can also find the value of the sensor when its directly over the tape then the table seperately.
  • When prompted to sample the "Min" or "Black" reading, position the sensor so that the red spot is centered over the line and then press the Enter button on the NXT. When prompted to sample the "Max" or "White" reading, position the sensor so that the red spot is completely over the surface away from the line and press the Enter button on the NXT.
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    Before line following using either the LineFollow2 or LineFollow5 program, you should "calibrate" the light sensor to the actual conditions expected. With the sensor mounted on the robot where it will be used, and the robot placed over the actual line it will be following, a calibration process takes two light sensor readings, one directly over the line (minimum = darkest), and one over the surface away from the line (maximum = brightest).
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    if we follow the edge of the line we will always be between the max and the minimum values. therefore, it can detect both values and stay between the min and the max.
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    we have to figure out how to correctly calibrate the sensors
Thaddeus McKeon

RoboCup Rescue Basic Line Follower.pdf (application/pdf Object) - 1 views

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    this is kind of a weird way of straddling the line but it works
Nick Laferriere

Programming Solutions for the LEGO Mindstorms NXT - Which approach is best for you? | R... - 1 views

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    Programming Solutions for the LEGO Mindstorms
Thaddeus McKeon

Community: Autonomous NXT Robot - 1 views

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    an NXT doing a maze in only a minute 35
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