Let's Make Robots!

-=eXplorer=-

Wall follow and obstacle avoidance using Sharp IR sensors
AttachmentSize
explorer8_lmr.pde8.3 KB

 

Hello

 First of all, I want to congratulate you for a nice place you made here . I'm glad to find a such passionate and innovative group here.

 

I'll show you my little robot and how it change in past 2 months since I begin to work on it.

Where all begins...

Version 1, above picture, has simple obstacle avoidance using whiskers and 2 micro switches. CPU - Arduino 2009, drive - 2 hacked servos, power 3s LiIon cells.

Front view

 Step 2 was to made 3 colission detection sensors, using ultrabright red LEDs and photoresistors. They worked well, but chassis was too small and I decided to build a new one to accomodate new sensors.

Arduino, servos and power regulator were moved to new chassis, bigger weels and LiPo power pack added.

Chassis II

Front

Bottom

You can see on wood blocks guide lines I draw for LED and photoresistor channels.

This system worked  verry well, but was verry sensitive to ambient light so I decidedit was time to something advanced.

So a pair of Sharp GP2Y0A21YK0F is used for new detection system. I mount them  on an oscillating head, to cover a wider angle and to speed scanning process.

Head1Head2

 

 

 

 

 

 

 

 

 

Work is in progress to smooth navigation and to develop more behavior modes. Meantime, enjoy the videos.

www.vimeo.com/7671661

www.vimeo.com/7671845

www.vimeo.com/7813518

www.vimeo.com/7842332

 

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Would it possible to view your code? The wall following is brilliant.

Hello

I attached the code for wall following, version with 3 red light sensors. If you need something else, let me know.

 

-=Seba=-

How are you doing Seba? How was your trip to Canada? Any new projects you're working on?

Thanks for kind words. Your bot looks very nice to and a little bit powerfull than mine.

The way I use sensors is not the best one, I will change it soon as posible. It gave me many hours of frustration to make it work. As advice, don't use your sensors that way, I think is better if they points inwards.

Oh, I am impressed with the speed and ease with wich you track the balls. (twss)

And using IR that has such a dead zone, very impressive!

You make me look bad:

http://letsmakerobots.com/node/466

:)

That is one awsome robot

Is quite a long time since I don't post anything here. But eXplorer have an arm now and today I'll show you how is working.

I designed it to be as little and light possible to fit my robot, it's task is to grab plastic balls and other small things.

The orientation toward the ball is still in progress.

And 2 short movies:

http://www.vimeo.com/9111766

http://www.vimeo.com/9111968

Each pin of angled header is solder in 2 points and ensemble is quite strong. If you don't plug and unplug it too often, it's ok.

Is not a camera, is 5V voltage regulator  with heatsink. I thought servos will draw some power under continuos operation and I put heatsin, but is not the case. Regulators are just warm.

Well since I am planning to plug/unplug it rather often perhaps it's not the best way of making a shield. I think I'll go for bending the header pins again, but I'm still considering it.

Thanks for the info :)

 

I take some pics, hope I caught relevant aspects. Questions are encouraged :)

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