RoboGuard

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RoboGuard

• Magdalena Balazinska - Godfrey Tan

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Goals

• Guard a doorway or a hallway
• Detect doorway position in the middle.
• Detect intruders and block their way.
• Move along a straight line

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Subsumption Architecture
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Hardware and software components

• Handyboard MC68HC11, 32K RAM, 9V
• Interactive C and Motorola assembly
• 2 DC motors (6.9V)
• 5 Sharp GP2D02 IR range sensors
• 5 bumper switches
• 2 shaft encoders
• Lego body

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Sensors the illusions and the reality
GP2D02 10cm to 80cm
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Sensors the illusions and the reality
Range 4.5cm to 49.5cm Angle 10.4º to 13.7º
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Demo
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Summary

• Successes
• Simple sensors and simple algorithms allow to
  achieve interesting behaviors
• Autonomous creature performs what seems like an
  intelligent task
• Limitations
• Sensors ranges
• Batteries lifetime

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Lessons learned
Software eng.
Robot eng.

• Reboot

• Change batteries.

• Check last piece of code modified.

• Check hardware connectors.

• Optimize algorithms.Test!

• Experiment!

• Dont trust doc read code.

• Dont trust specs experiment.

• You may be poor.

• Better be rich.