From this page you will find the following sections:
| Team Member | Anticipated Graduation Date & Degree | Resume | |
| Audrey Bartlett (right) |
August 1998 |
Resume | e-mail Audrey |
| Susan Hall (left) |
April 1998 |
Resume | e-mail Susan |
| Jess Lyons (middle back) |
December 1998 |
Resume | e-mail Jess |
| Turtle (middle front) |
N/A |
N/A | N/A |
The following report describes the process that was used to design and build a line tracking robot. The three major components involved in the design and building of the robot are related to:
The programming component consists of first generating a decision diagram and then using the diagram to write a program that will operate the robot. The decision diagram outlines the decisions to be made based on input from the sensors. The actual program is written in C. The mechanical component consists of making a block diagram showing the general placement of the sensors and motors with respect to the microcontroller. Then using this diagram the motors and sensors can be strategically placed on the frame. Interfacing connects the sensors and motors to the microcontroller. The sensors need to be configured in order to relay information to the microcontroller. Also, the motors need to be configured so that data can be received from the microcontroller.
The following requirements were outlined by Dr. Randy Beard.
The maze specifications include:
The majority of the literature used to design the robot was related to the microcontroller and the wheel configuration. The information needed for the microcontroller was accessed from Motorola and MIT. This literature found was an internet version of the reference manual on the Motorola microcontroller MC68HC11E2. In order to determine the wheel configuration for the robot two different arrangements were considered: differential drive and double axle drive. After comparing these configurations using Mobile Robots: Inspiration to Implementation by Jones and Flynn. it was decided that the differential drive arrangement would allow for the best movement and provide the needed stability for the robot.
In order to fulfill the design objectives the robot must contain the following components:
The sensors need to detect the line determining the path of the maze, branches in the path, the dead end branches, and the end of the maze. The differential drive configuration must be able to move the robot forward and backward and turn when a branch is detected. The microcontroller contains the program which allows it to make decisions based on feedback from the sensors and control the movement of the robot.
A Functional Block Diagram outlines the design approach and strategy that the line tracking robot will use. The diagram also shows the approximate placement of the devices involved in controlling the robot. These devices include the microcontroller, six sensors, and two motors. The microcontroller receives input from the sensors and outputs instructions to the motors in the form of signals in order to navigate the robot through the maze.
A Program Flow Chart diagrams the decision making process our robot will use to navigate the maze. All directions are in reference to the forward direction the robot starts out in. A turn consists of a full stop and a 90-degree turn in the direction specified. A shift consists of slowing the wheel down on the side specified so that the position of the robot is corrected and remains on the black line. A stop will bring the robot to a full stop. The acceleration blocks will incrementally accelerate the robot from a stopped position to full speed in the direction indicated. Once the robot has reached full speed, these blocks will simply maintain that speed. When the robot reaches the end of the maze it will stop.
The microcontroller miniboard contains the interfacing needed for the sensors and motors. Much of the programming will be able to set the sensitivity levels of the sensors and control the motors.
 Both
robots running the maze |
 Our
competitor's robot |
 Close
up of Turtle |
 Another
picture of the winning robot |
