CS 490   Special Projects in Computer Science:  MOBILE ROBOTS
 

FINAL PRESENTATION   (Monday, April 23, 2001,  in NSF 1207)

Announcements (other developments)
 

The BEOWULF Cluster is up and running!

Introduction

• Purpose, goals  of the class
• (Original Course Announcement)
• Who is in it, how we're organized
• Back to our class web page
• Resources  (New lab, new 'bots, old 'bots), NERL)
• Previous work
• General Lessons learned

• Major Thrusts
• Two commercial robots
• Amigobot
• Trilobot
• Two High speed custom 'bots
• truck (autonomous) (tv)
• car (human-controlled)
• Two Enhanced Rovers
• Reactive Planning
• Stimulus-Response Behavior
• Look-up Table
• Examples:
1. Obstacle avoidance
2. Edge avoidance (stay-on-table)
3. Wall-following (simple maze solving)
4. Omni-directional (mobile ) obstacle avoidance ("keep away")
5. 3-D obstacle avoidance (e.g., tunnels)
6. Beacon following
7. Light seeking
• Integrated (e.g., heterogeneous obstacle avoidance)

 
• Radically new type of drive mechanism:  a holonomic design:
• The Holobot
• Streaming Robot Video
• latest from Bruce
• Wireless
• serial port
• video
• internet (802.11b)
• TEAMS (demos)

Holonomania

Amigobot

Trilobot

Rover (avoider)

Rover (beacon follower)

Truck

Car

Video

Conclusions