Progress Report for 02-27-08

As of 02-27-08, Tony has the NXT robot and working on programming it over the 3 day weekend. I'm going to start building a simple maze out of cardboard to test out the robot with. We're probably going to meet up tuesday or sometime this week to work and test the robot.

Some Idea Mazes

These are some mazes I thought of...
We might use one, some or none of these mazes.
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Maze 1

Maze 2

Maze 3 & 4

Maze 5

Behavior Table

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Finite State Automata (FSA)

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Behavior Based System

Objective: Mario(Lego Mindstorm NXT robot) will navigate through a dungeon(maze made out of cardboard) and try to find and rescue princess peach from the evil browser(solve the maze).

Step 1: Describe the task

• Robot will be solving a maze
• It will wonder through the maze until it gets to the goal by following the set of rules described in step 4
  

Step 2: Describe the robot

• The robot is a Lego Mindstorm NXT, latest version
• The robot will use the Ultrasonic Sensor, so it can see the wall
• The robot will use 2 Servo Motors(wheels) to navigate through the maze
• The robot will use the touch sensor to know that it hit the wall
  

Step 3: Describe the environment

• The environment of the robot is 100% inside a maze
• There will be multiple unique mazes for the robot to solve
• The mazes will be made out of cardboard
• The mazes will be flat surfaces with no obstacles for it to avoid
• The mazes are big enough for robot to navigate through
  
• Exact layout and size of maze is not known in advance

Step 4: Robots actions in response to environment

• The robot will start at the starting position of the maze and wander the maze
  
• The robot will move straight until it sense that there is no wall to the right of it
• It will turn right and continue going straight until it senses that there isn't a wall to the right of it, then turn right again
  
• It will continue doing the above rules until it reaches the goal or hits the wall in front of it
  
• If it goes straight and hits the wall in front of it before sensing a wall to the right of it, it will back up and turn left
• It will continue doing the above rules until it reaches the goal