Roadrunner

1
Roadrunner

• Adam Critchley
• And
• Salvador Rodriguez
• (Not Present Joshua Curtis)?

2
Our Strategy

• Finding the Target
• States
• Lost State
• Lost Tracing State
• Sighted State
• Sighted Tracing State
• Sighted Aiming State
• Returning Home
• States
• Returning State
• Return Tracing State
• Return Aiming State

3
Lost State

• Lost State
• Initial state of Roadrunner
• Wanders until either an obstacle is found or a
  beacon sensor reading returns visible

4
Lost Tracing State

• Roadrunner enters this state from the lost state
• Traces an obstacle until it turns a corner then
  returns to lost state
• Every time Roadrunner encounters an obstacle it
  turns right

5
Sighted State

• Enters this state from either the lost state or
  the lost tracing state
• Enters this state when an obstacle sensor returns
  a visible signal
• Upon entering this state Roadrunner aims at the
  approximate beacon position and heads forward

6
Sighted Tracing State

• Roadrunner enters the sighted tracing state from
  the sighted state
• Follows each object until it has turned two
  corners and returns to the sighted state
• Every time Roadrunner encounters an obstacle it
  turns right

7
Return State

• Roadrunner enters this state from any state
• This state is entered when Roadrunners ground
  sensor emits a positive response
• Roadrunner aims at the starting position then
  head towards it

8
Return Tracing State

• Roadrunner enters this state from the return
  state
• Instead of turning right at every obstacle
  Roadrunner turns left at every obstacle
• After turning one corner Roadrunner returns to
  the Return state

9
Sensor Frequency
10
Virtual Coordinates
Calculated using formulas used by AM in the RTSS
'06 competition.
11
Equation Analysis

• Tests conducted on equations revealed a 1 percent
  error for di and 15 percent error for ?i.
• The equations were not accurate enough for our
  initial plans.
• Thus, we relied on coordinates for only absolute
  necessities. In our case, finding our starting
  point and triangulating target location.

12
Honing In

• Mouse enters the home circle of pre-determined
  radius around the starting position.
• Shrink the home circle as the mouse moves closer
  to the center.
• Minimal movement is allowed away from the center,
  and if exceeded the flag is set.

13
Honing In (Example)?
Hit Distance Algorithm
Our Algorithm
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May the best mouse win!