Society of Robots - Robot Forum
General Misc => Misc => Topic started by: dimitrisx on September 15, 2007, 05:26:52 PM
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(http://www.robotix.gr/MyArticles/Robotics/XBotPart2/botLow.jpg)
XBot is an autonomous mobile robot which can be programmed to perform various navigational routines. This is done by programming its on-board ATMEGA8535 microcontroller (or microcomputer if you prefer). Four Infa-Red sensors along with a rotating ultrasonic sensor are used for measuring the distances of the various obstacles that the robot encounters and - of course ? avoiding them! Two optical encoders are used to accurately measure the rotation of the wheels and provide feedback to the controller. Using this data from the encoders and some simple mathematical equations, the robot is able to ?know? at any given time its exact position x, y and theta (self-localisation). The robot is also equipped with a ?line sensor? with the aid of which it can perform what is known as Line Following (e.g. follow a black or white line drawn on a white or black background). Some other of the robot?s peripherals are listed below:
* 1 PIR sensor: to detect human presence
* 1 Radio Data Link: for telemetry purposes
* 1 Alphanumeric LCD (20x4): mainly for debugging purposes
* 1 Battery level sensor
* 3 Push buttons: to provide a basic user input unit
For more information please visit http://www.robotix.gr (http://www.robotix.gr) where you can find a detailed article about XBot and other robotics projects.
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I noticed your simulation stuff. I had to write my own ghetto simulation software for my last bot, so Im finding it really useful now . . .
http://www.robotix.gr/viewpage.php?page_id=4
Got code or exe I can download? ;D
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Yes, I have the executable on the website. You can download it here: http://robotix.gr/downloads.php?cat_id=1&download_id=1 (http://robotix.gr/downloads.php?cat_id=1&download_id=1)
As I say on the web site, this is a "demo" and so don't expect much :)
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neat! scared me a bit when my screen got resized . . .
so how would I go about modding it for my own stuff? :P
since you got encoders and a good sensor array, you might be interested in my pathplanning code:
http://www.societyofrobots.com/programming_wavefront.shtml
my simulation is much uglier, but it was meant for code verification and debugging and less for visualization . . .
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Yes this screen resizing is quite scary I guess :P
Well I'm currently trying to add some kind of pseudo code editor in the simulator to let the user modify the behaviour of the robot. I'm altering the code all the time but I believe in 10 days max I'll have it ready. As soon as I finish with the editor I'm gonna uploard the source code. (and also leave a msg here).
Really interesting article about this navigation technique and cool video as well. :)
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If your simulation is ends up being easy to use and very useful (and of course free), Ill actively promote it for you ;D
I can promise you lots of hits . . .
I encourage you to have it handle C code (which most of us use for our robots), too.