This work is the final project for the course Mobile Robots that I attended during my exchange program at National Chiao Tung University (Taiwan).
The purpose of this project is to assemble a robot and implement the algorithm for making the robot smartly move in a maze and find a LED puck. Both Raspberry Pi and Arduino are used.
The following sensors have been used to assemble the robot:
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1 Light Sensor
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3 Ultrasonic Distance Sensor
The following moving patterns have been implemented to allow the robot to smartly move in the maze:
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Turning Left around the Corner: video
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Turning Right away from the Wall: video
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Driving Forward Along the Wall: video
In order to drive forward along a wall, the wheels speed must be adjusted constantly. To do so, the following formula is used to compute the two different wheels speed:
By using these moving patterns the robot is able to solve the maze (find the LED puck). Example.
Copyright (C) 2021 Alessandro Saviolo
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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