robot navigation by: sitapa rujikietgumjorn harika tandra neeharika jarajapu
TRANSCRIPT
![Page 1: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/1.jpg)
ROBOT NAVIGATION
By: Sitapa
Rujikietgumjorn Harika Tandra
Neeharika Jarajapu
![Page 2: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/2.jpg)
Overview Project Idea Challenges Initial Step Second Step Experimental Setup Results and Analysis Future Considerations Video Demo
![Page 3: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/3.jpg)
Project Idea Navigate a robot to a
desired destination with the help of a network of Tmotes.
Avoid stationary obstacles in the path.
Use a best path (determined by Dijkstra's algorithm) to reach the destination.
Destination
![Page 4: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/4.jpg)
Challenges
Movement of the robot is not accurate Turning angle is not 90 deg. Going straight, it moves off the
straight line Communication interface between
base mote and MSP robot
![Page 5: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/5.jpg)
Initial Step
Established communication b/w network and robot Program grid mote to broadcast grid
number and direction. Program the robot to get the direction.
Have the robot positions in real time Position = grid number.
![Page 6: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/6.jpg)
Second step
Dijkstra’s algorithm for robot navigation in the best path.
Build experimental setup with stationary obstacles.
![Page 7: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/7.jpg)
Experimental Setup Define a grid of tmotes and
obstacles. Robot uses Dijkstra’s
algorithm to find a best path Robot follows the path and
determines its position from the grid motes
Assumptions: Robot have to face north
direction Robot have to travel in a grid
direction Obstacles are defined a priori
0 1 2
3 4 5
6 7 8
N
![Page 8: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/8.jpg)
Results and Analysis (1)Direction: 1 straight, 2 left, 3 right, 4 back, 5 stop
0 1 2 Dest.
3 4 5
6 7 8
![Page 9: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/9.jpg)
Results and Analysis (2)Direction: 1 straight, 2 left, 3 right, 4 back, 5 stop
0 1 2 Dest.
3 4 5
6 7 8
![Page 10: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/10.jpg)
Future Considerations
Add the feature for detecting and avoiding unknown obstacles.
Build a real-time application of surveillance or data collection on reaching destination
![Page 11: ROBOT NAVIGATION By: Sitapa Rujikietgumjorn Harika Tandra Neeharika Jarajapu](https://reader035.vdocuments.us/reader035/viewer/2022071808/56649ede5503460f94beedd6/html5/thumbnails/11.jpg)
Video Demo