Robotic Delivery System with SLAM ^beta

Progress

The full system testing has been completed. The robot maps the environment, receives a remote call from the user, generates a potential field, navigates the potential field, and delivers the object within .5 meters of the goal. More can be found on our deliverables page.

4.23.2009
We have completed all integration. All that is left is to walk in values so that the robot will function smoothly. Several bugs have been worked out of the code as well.

4.16.2009
All software integration is taking place. We were able to combine the initial mapping with the IR sensor code and the potential field code. We will now need to finish correctly converting IR sensor voltages to usable distances.

4.9.2009
Grid system development testing/development continues. IR sensor mount and USB ADC-11/10 Data Logger integration continues. Potential field path finding algorithm development continues. Integration of software components beginning soon.

4.2.2009
Grid system development continues. Local grid system is implemented. IR sensor mount and USB ADC-11/10 Data Logger integration continues. Potential field path finding algorithm development continues.

3.26.2009
Simulator modifications completed. Simulator now has 0,30,60,90 degree sensors implemented. IR sensor mount construction begins. Wi-Fi software development continues. Potential field path finding algorithm development begins.

3.12.2009
Grid system implementation continues. Modification to simulator to accomodate new sensor setup begins. USB ADC-11/10 Data Logger and sensor integration continued. Wi-Fi software development continued.

3.5.2009
Grid system implementation begins. Wi-Fi software development continued. USB ADC-11/10 Data Logger and sensor integration continued.

2.26.2009
Initial wall following code written and tested. Development continues. USB ADC-11/10 Data Logger received and testing has begun. Wi-Fi software development continued.

2.19.2009
Wall following and obstacle avoidance software development continued. Wi-Fi software GUI created. IR-sensor test setup created (click here). IR-sensor data collection continued. A presentation on our progress was given. The presentation slides can be viewed from our deliverables page.

2.12.2009
Various techniques are being tested for basic wifi following. Wall following and obstacle avoidance software development beginning. IR sensor interfacing researched. Possibility of using the USB ADC-11/10 Data Logger to directly interface the IR sensors to the laptop. IR sensor placement determined.

2.5.2009
Wifi smoothing experimentation concluded. Will be using averaging with 100 samples @ 10 samples/sec. IR Sensor testing continues. Basic wifi strength following code is being tested using 3 wifi points.

1.29.2009
Wifi smoothing experimentation continues. Based on testing, averaging will be much cleaner. Basic wifi strength following code has been written (using 1 wifi point). IR sensor testing continues.

1.22.2009
Various Wifi experiments are being run to smooth out the erratic nature of the Wifi signal. Currently smoothing using simple averaging and a median filter (run simultaneously). Sonar sensor testing proved to be just as erratic and we have recieved IR sensors. The IR sensor we are using can be found here. Preliminary code for wifi signal selection and general handling has been written.

11.20.2008
We've started testing on the sonar sensors and are researching IR sensors.
We've also written programs to find the signal strengths of Wi-Fi points to research the methods in which they will be used.