ProjectFREGO

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Fully Rectangular Excellent Great Outstanding (FREGO) BOT

This project will involve the FregoBot being trained to use more advanced object detection.

The general goal is to get the FregoBot to move around a room without colliding with objects. Some features include detection and following of walls, determining what direction to move when a front object is encountered, and detecting negative space to avoid falling down stairs, off a cliff, etc.

The projet web page can be found at http://www.inventiondb.com/browse.php?cubeid=1081 http://www.csschat.com/

Goals:

Wall Following - Use proportional control to keep the robot at a fairly constant distance from the wall instead of continuously jumping between too close/too far from wall. The robot is able to track a wall on either side. [April 1 (No Fooling)] Complete

Front Object Detection - Use a servo to control an ET that examines the area in front of the robot. The robot will then select the best dircetion to move. [April 8] Complete

Negative Space - Use a downward facing ET sensor to detect a cliff/stairs. [April 8] Complete

VDK - Generate a multi-threaded program that will run and prioritize the above processes. A control process will monitor the above process and interject if the robot gets trapped in a single state for too long (e.g. ramming repeatedly into a wall). [April 15 (With Tax Forms)] Complete

Long Term Goals:

Accelerometer - Use the accelerometer system to acquire and track the robots acceleration, speed, and position. The results will be used to control direction, speed, and possibly create a map of the path the robot has traveled. [Mayish] Complete

Vision - Have the robot find a blob and follow it collisionless [Later Mayish]

Stuff To Do

  • New pictures - DONE
  • InventionDB Update - DONE
  • Right Side Sensor Mount - DONE
  • Right Side Sensor Code - DONE
  • Control Thread Timing and State Handling - DONE
  • PowerPoint presentation for Wed. 4/26 - DONE
  • Platform Revamp (Unlikely?) - Not Being Done
  • Evaluate using the servo mount ET - Not Being Used
  • Accelerometer Code DONE
  • Get vision FPGA code
  • Object Tracking
  • Object Tracking with collision avoidance (side, front, down)

Contributors

  • Dave Ceddia
  • Mike Howlett
  • Jim Censabella