ECE 4340 / 7340 and CS 4730/7730 Building Intelligent Robots, Spring, 2009

PROJECT # 1: Navigation by Odometry

Demonstrations in Lab: Feb. 16 and 17

Report Due: Wed., Feb 18

Using the Create robot base, each team will program the robot to perform the following functions:

1. Square trajectory with the side dimension to be specified at runtime, ranging from 22 inches to 32 inches in increments of 1 inch.

2. Circle trajectory with the diameter to be specified at runtime, ranging from 22 inches to 32 inches in increments of 1 inch.

3. A route from a designated start location to a designated goal location using at least 5 turns, and then the return route back to the start location using the same route. Note the error getting from the start position to the goal and also the cumulative error in the round-trip route. The start and goal positions will be marked on the floor of the lab.

Note that the selection of the above 3 functions should be done at runtime and will be demonstrated to the lab. (That is, you will need some input mechanism at runtime for selecting the function as well as the parameter for the square and the circle.)

On the due date, each team will demo their project to the class and on the project due date, each student will hand in a written report. The TA will review your lab book in lab on the demonstration day. The following items should be addressed in the report. Include diagrams where appropriate:

1. Include the equations and calculations which are used to control the robot in the square and circle trajectories

2. Include a description of your 5-turn route and the calculations used to follow the route.

3. Run each of the functions several times and record the performance of your robot for each function. Also explain how you measured performance.

4. Include any challenges or problems

5. Include a hard copy of your code with your report.