Objectives
- Add scaled steering so the amount the wheels turn is dependent upon how far off of the desired course the robot is
- Calculations to determine heading and distance between current location and next waypoint
- Basic state Control with 3 IR sensors
Accomplished
- Determined series of tests for IR sensor testing
- Scaled steering when traveling north
- Heading and distance calculations between waypoints
- Integrated calculations, and scaled steering into code such that robot turns toward next waypoint
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| Not permanently mounted, but the car is controlled by the Arduino regardless |
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| Close up of the RC Car |
IR Sensor Testing
- Began brainstorming different situations that the car could run into when it is driving
- The following images represent an outline of tests that will be performed using 3 infrared distance sensors mounted on the front bumper of the vehicle
- The purpose of these tests is to determine the success of the obstacle avoidance algorithm
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| Scenario1 : Avoids Object that is in slightly to the side of it by going the path which requires the least turn |
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| Scenario 2 : Same situation as Scenario 1 but turns the other way this time |
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| Scenario 3: When it is directly in front of it, it will decide which way will bring the car closer to the final destination |
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| Scenario 4: When it is surrounded by objects, it will back up and try to maneuver around it |
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| Scenario 5: It will continue object avoidance after it clears its first obstacle |
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| Scenario 6: When approaching a wall, it will turn accordingly |
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| Scenario 7: Same situation as Scenario 6 but the other side of the car |
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| Scenario 8: Will have to identify other cars that are also running on the track |
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| Scenario 9: Same situation as Scenario 8 |
Scale Steering
- Allows robot to turn more or less based on how far off of desired heading it currently is
- This will minimize swerving and smooth path of travel
Video of Scaled Steering
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| Formula to get the Angle needed for the Heading |
Next Tasks
- Travel to and stop at target waypoint
- Change target waypoint
- Travel to new target waypoint
- Basic state Control with 3 IR sensors
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| Hopeful test run of the RC car going from point to point on Buckley Field |
