The graphic above shows the output of
the autonomous - mapper program.
On the left is the derived map, on the
right is the simulated floorplan.
UPDATE: new software has been added
for navigation. More accurate, more
"intelligent" and efficient searches.
Line detection for objects sensed by
sonar. I'm doing more research and
trying to use Gameboy camera to
navigate.
links require windows PC and internet
exploder:
NEW january 2005:
simulation, autoexplore
The robot now has a face and emotions
flood fill search for unexplored,
backtrack look for origin
both written in assembly for speed
simulation of floorplan and robot movement
in BASIC
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The Robot arm is used for picking up several
objects on a special shelf in my computer
room. When you say the command "Get", he asks
"What would you like me to get?". You tell him
"ONE" and Woz goes to the room, picks the Apple
II technical Reference manual from my shelf,
and returns to me with the book in his hand. It
does not matter what room you are in when you
give the command, he figures out how to get to
the computer room. There are a total of 8 objects
he can get from the shelf, all of which are in
specially designed baskets which are easy for
him to pick up. The locations of those objects
and baskets are preprogrammed. The arm can be
remotely controlled from the walkie
talkies.
He gets to the shelf using the navigation software
that I programmed for him (Mostly all coded in
Assembly).
He then lines up with the end of the shelf using his
sensors. He's got an IR led and sensor on his side
which points at a long strip of paper that is taped
to the shelf. The white paper has vertical black stripes.
Woz watches the IR detector for a certain ammount of
pulses. He knows how many pulses to read before he stops
at object one. He then blindly reaches over with his arm
and closes his hand.