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?