User:Hmaarya/Project Pages/Project 1

Project Preference

 * Mobile Robot Hallway Navigation
 * Wind Turbine
 * Bio Vest

Problem Statement
The project goal is to design a new control algorithm that will allow an existing mobile robot to navigate itself through a rectangular section of hallway in the Clark Library building at HCC; a LEGO Mindstorms robot and MATLAB (with Simulink) will be used.

Project Plan
The project will last for 4 weeks.

Weekly tasks/goals:
 * Week 1: Outline the problem and consider various approaches
 * Create detailed diagram of hallways to be navigated
 * Determine the average speed of the robot needed for navigation within desired time
 * Research additional sensors that may be helpful for navigation
 * Week 2: Design and test new algorithms
 * Learn MATLAB/Simulink
 * Compare code with what worked/didn't work (past project team)
 * Get the robot moving around the hallways
 * Play with different sensors/inputs
 * Week 3: Determine best sensor/coding combination by testing
 * Week 4: Test and refine code for most efficient navigation of robot

Week 1 Narrative
My task for the first week of the project is to determine the speed of the robot. We want the robot to be able to navigate the halls within 7 minutes. The following diagram was provided by group member Zach:

I assumed a straight pathway through the center of the halls would be best, since there are some obstacles along the sides (such as benches): The distance of this pathway is approximately 139.12 m, so the speed of the robot (for a 7 minute lap) works out to 0.33 m/s, as shown below. This speed assumes a consistent (straight) path of travel and clean turning at corners, so it should be considered approximate. The robot may have to move more quickly if it is prone to drifting off course or if there are obstacles to navigate around. The speed can be increased to get the robot around the halls in less time than 7 minutes.