The Robot:

The robot was designed and constructed by Leang Robotics. The robot stands 6 inches tall, and has a diameter of approximately 4.25 inches. The robot is equipped with an infrared line following sensor, four infrared proximity sensors, a digital compass, and a radio frequency transmitter and receiver.

On board robotic control is provided through MIT's Handyboard micro-controller, which is programmable in Interactive C. Computer link to the Handyboard is accomplished either through serial cable connection or through radio frequency transmission.

A program, main.c was written in interactive C to interpret signals received by the robot from the Sun Ultra 1 via the RF transmitter. Main.c also communicates environmental data (obstacles or the lack thereof) back to the Sun machine. Additionally, main.c has functions to adjust the robot's position in the maze.

Speed tests on the robot were conducted. A two-foot test area was marked off in 1/16th-inch increments. A fixed marker/pointer was attached to the robot and the test was recorded on digital video at 30 frames per second as the robot went from a stationary state to running speed. The seven-speed robot was tested at its lowest speed setting and at its highest speed setting.

It was determined that the robot uniformly achieves its top speed (zero acceleration) after 1/15th of a second. The robot travels at 3.9145 inches per second at its lowest speed with zero acceleration achieved after 1/8th of an inch of forward movement from a stationary state. At its highest speed setting, the robot moves at 13.125 inches per second, and zero acceleration is achieved after 1/2 inch of forward movement from a stationary state.

Photo courtesy of Pat Leang
Used with permission.

Introduction | Overview | Maze | Interface | Learning | Vision | Robot | Integration | Bibliography