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Declan Coen

PID Controller For Lego Mindstorms Robots - 7 views

www.inpharmix.com/...or_Lego_Mindstorms_Robots.html

pid nxt

shared by Declan Coen on 12 Mar 12 - Cached
  • 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.
  • ...4 more annotations...
  • 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.
  • Anthony DiVirgilio on 12 Mar 12
     
    seems useful for following a line effectively
  • ...1 more comment...
  • Thomas Corcoran on 12 Mar 12
     
    this is a really good technique
  • Declan Coen on 12 Mar 12
     
    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.
  • Thomas Helm on 12 Mar 12
     
    i found the edge thing on another site too
Anthony DiVirgilio

Fuzzy Line Following NXT Robot - 5 views

stefans-robots.net/...zy-line-follwing-nxt-robot.php

following line nxt robot

shared by Anthony DiVirgilio on 12 Mar 12 - No Cached
  • Bryan Kelleher on 12 Mar 12
     
    One of the tutorials within the Lego Mindstorms NXT Software shows how to program a robot that follows a line using Boolean Logic. In the following, an improved version, based on Fuzzy-Logic, is presented. Although a little bit more complex, the program is still implemented using NXT-G Code.
  • Anthony DiVirgilio on 12 Mar 12
     
    this has some good ideas
Lindsey Carlson

Roomba Vacuum Robot -- How does it work? - 3 views

www.about-robots.com/roomba-vacuum-robot.html

shared by Lindsey Carlson on 13 Oct 11 - No Cached
  • Lindsey Carlson on 13 Oct 11
     
    how the robot thing workss.
  • Stephen Brogan on 13 Oct 11
     
    I see good link it helped me understand the projects goals on a higher level
Anthony DiVirgilio

BrooksBots - Strategy for Autonomous Sumo Robot used in ExSpurt & Executioner - 1 views

brooksbots.com/Strategy.html

strategy robot

shared by Anthony DiVirgilio on 15 May 12 - No Cached
  • Anthony DiVirgilio on 15 May 12
     
    this provides strategy for controling the robot
Thomas Helm

LINE - 4 views

Line Following In Chapter 3, we talked about going straight and having a well-tuned robot. I mentioned using the field environment for help in traveling a straight line, such as running along the...

started by Thomas Helm on 12 Mar 12 no follow-up yet
Stephen Brogan

Robot combat - Wikipedia, the free encyclopedia - 2 views

en.wikipedia.org/...Robot_combat

shared by Stephen Brogan on 17 May 12 - No Cached
  • Stephen Brogan on 17 May 12
     
    Robot combat is a hobby/sport in which two or more custom-built machines use varied methods of destroying or disabling the other. As of today, in most cases these machines are remote-controlled vehicles rather than autonomous robots, although there are exceptions, particularly in the field of robot-sumo.
Alexander Laferriere

Sumo Robot Contest [Including How To Videos] - 2 views

www.geekzone.co.nz/...4249

robot how to videos including contest detection sensors sensor iRobot sound NI wall obstacle Ultrasonic

shared by Alexander Laferriere on 17 May 12 - No Cached
  • Alexander Laferriere on 17 May 12
     
    this shows that the robots will be better at pushing if that have alot of torque
  • Thaddeus McKeon on 17 May 12
     
    shows a great example of an inclined plane
Andrew Drogan

My Library - 2 views

www.diigo.com/andrewdrogan

ultrasonic sensor

shared by Andrew Drogan on 13 Oct 11 - No Cached
  • Andrew Drogan on 13 Oct 11
     
    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
Thomas Helm

Robot Control - 3 views

www.clear.rice.edu/...control.html

robot

shared by Thomas Helm on 17 Oct 11 - No Cached
  • The most common kind of robot failure is not mechanical or electronic failure but rather failure of the software that controls the robot.
    • Thomas Helm
      Thomas Helm on 17 Oct 11
       
      Has a bunch of categories to choose from on the left side
Joshua Wilkinson

Sumo Bot Design Suggestion - 11 views

isnt the front gonna be a wedge anyway, how would be easier to flip?

started by Andrew Drogan on 15 May 12 6 follow-ups, last by Joshua Wilkinson on 17 May 12
Thomas Helm liked it
Joshua Wilkinson

NXT Line Follower - 2 views

www.nxtprograms.com/...steps.html

shared by Joshua Wilkinson on 12 Mar 12 - No Cached
  • 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
      Joshua Wilkinson on 12 Mar 12
       
      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.
  • Andrew Drogan on 12 Mar 12
     
    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).
  • Declan Coen on 12 Mar 12
     
    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.
  • Thomas Helm on 12 Mar 12
     
    we have to figure out how to correctly calibrate the sensors
Nick Laferriere

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

find.botmag.com/100701

sensor sensors detection robot Ultrasonic wall obstacle sound NI iRobot

shared by Nick Laferriere on 12 Mar 12 - No Cached
  • Nick Laferriere on 12 Mar 12
     
    Programming Solutions for the LEGO Mindstorms
Anthony DiVirgilio

How to Build a Robot Tutorial - Society of Robots - 0 views

www.societyofrobots.com/robot_sumo.shtml

build robot

shared by Anthony DiVirgilio on 17 May 12 - Cached
  • Standing Up
    • Anthony DiVirgilio
      Anthony DiVirgilio on 17 May 12
       
      could help manage being flipped, so it is not a problem
  • Anthony DiVirgilio on 17 May 12
     
    some interesting strategies
Joshua Wilkinson

http://www.teamhassenplug.org/NXT/Gears/ - 16 views

www.teamhassenplug.org/Gears

shared by Joshua Wilkinson on 06 Dec 11 - No Cached
  • This motor shaft will make 3 rotations, in the same time the output shaft makes 5 Gears used: 20 tooth on motor, 12 tooth on output Gear Ratio: 3:5 Power: 3/5x motor Speed: 5/3x motor (faster)
  • This motor shaft will make 1 rotations, in the same time the output shaft makes 3 Gears used: 24 tooth on motor, 8 tooth on output Gear Ratio: 1:3 Power: 1/3x motor Speed: 3x motor (faster)
  • Anthony DiVirgilio on 06 Dec 11
     
    great ideas for gear ratios
  • ...4 more comments...
  • Jarid Brogan on 06 Dec 11
     
    very helpful gear ratio chart
  • Joshua Wilkinson on 06 Dec 11
     
    the bottom two charts are good. It does make it go considerably faster
  • Thomas Helm on 07 Dec 11
     
    It looks like a smart idea for designing the wheels maybe it would be possible to adjust it and make it stronger
  • Joshua Wilkinson on 07 Dec 11
     
    This is probably the best for speed and power(torque). The robot would be front wheel drive based on that if the nxt is on the back with the wheels the robot would flip or slide down due to the weight on the downhill side of the robot not the uphill side(assuming the track is at 22.5 degress
  • Thaddeus McKeon on 07 Dec 11
     
    I agree wit Josh this is what we need for the project
  • Alexander Laferriere on 07 Dec 11
     
    this has some good ideas
Bryan Kelleher

Add an Ultrasonic (Sonar) sensor to ClareBot Lego NXT MindStorms Robot DrGraeme.net fre... - 7 views

drgraeme.net/...default.html

sensor obstacle

shared by Bryan Kelleher on 13 Oct 11 - No Cached
    • Thaddeus McKeon
      Thaddeus McKeon on 13 Oct 11
       
      also shows how to program in a different version though
  • Adding a vertical ultrasonic sensor to ClareBot allows the robot to go around an arena without touching the walls
  • Thaddeus McKeon on 13 Oct 11
     
    shows how to build a simple wall following robot
  • Bryan Kelleher on 02 Apr 12
     
    Although this is an older version, the placement of the Ultra sonic sensor is a good thought
Anthony DiVirgilio

Robot obstacle detection system - iRobot Corporation - 1 views

www.freepatentsonline.com/6594844.html

robot obstacle detection system sensors

shared by Anthony DiVirgilio on 13 Oct 11 - No Cached
  • This invention relates to an obstacle detection system for an autonomous cleaning robot
  • Anthony DiVirgilio on 13 Oct 11
     
    This is the patent for the object detection system from irobot corporation
Lindsey Carlson

Best Robotic Vacuum Cleaners Vacuum by Sandro Matocci MultiSWANSEA.wmv.flv - YouTube - 1 views

www.youtube.com/watch

shared by Lindsey Carlson on 13 Oct 11 - No Cached
  • Lindsey Carlson on 13 Oct 11
     
    Robot in action.
Anthony DiVirgilio

Wall Follow Behavior Demonstration - YouTube - 5 views

www.youtube.com/watch

shared by Anthony DiVirgilio on 13 Oct 11 - No Cached
    • Anthony DiVirgilio
      Anthony DiVirgilio on 13 Oct 11
       
      the wall following robot is much more efficient in its cleaning
    • Thomas Helm
      Thomas Helm on 13 Oct 11
       
      it shows how it knows what to do near a wall
  • Andrew Drogan on 13 Oct 11
     
    great video for wall detection and how the robot will make its way through obstacles.
  • ...1 more comment...
  • Jarid Brogan on 13 Oct 11
     
    very good demenstartion and helped me understand how the wall detection move
  • Declan Coen on 13 Oct 11
     
    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.
  • Alexander Laferriere on 17 Oct 11
     
    it looks like the grey one has something wrong with it
Thaddeus McKeon

LEGO.com MINDSTORMS : Community : NXTLOG - 1 views

us.mindstorms.lego.com/...DisplayProject.aspx

robot

shared by Thaddeus McKeon on 17 Oct 11 - No Cached
  • Thaddeus McKeon on 17 Oct 11
     
    this robot simiulates sweeping motion
Thomas Corcoran

obstacle avoidance - 5 views

jvc.sagepub.com/...1077546310372004.abstract

obstacle

shared by Thomas Corcoran on 17 Oct 11 - No Cached
  • In this study, a path correction and obstacle avoidance method for a bipedal intelligent robot, using an ultrasonic sensor and electronic compass sensor, is proposed. The proposed method is implemented on an autonomous humanoid robot (the ARSR) comprised by the Lego NXT Intelligent Bricks. One ultrasonic sensor and one electronic compass sensor are installed on the ARSR to detect environmental information including obstacles, the distance to the obstacle, and the directional angle of the robot. Based on the obtained information, an obstacle avoidance and path correcting method is proposed to decide the ARSR’s behavior so that it can avoid obstacles automatically and move effectively to the destination area. Three obstacle avoidance experiments are carried out to confirm the effectiveness of the proposed method.
  • Thomas Corcoran on 17 Oct 11
     
    what to use for obstacle avoidance
  • Bryan Kelleher on 18 Oct 11
     
    I think this is a good idea!
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