Early during the past week, both versions of the algorithm were completed and passed the initial test of moving around the ring and all of the sensors responding. With two working algorithms it was time to test the effectiveness of the design by competing against an inanimate object as shown in the video below.
Testing against the large box seen in the video was very easy considering the low weight and large surface area, but there were still difficulties locating with the ultrasonic sensor. This became even more apparent when the robot competed with a water bottle. On the positive side, though, when it faced a large, heavy roll of film it had the ability to push it out. Overall the testing showed that the algorithm worked, but not in the originally planned way. Whereas the plan was to use arc turns to attack from the side, the algorithm went straight at objects that it detected with the ultrasonic sensor. Given that either the mechanical design or the algorithm needed to be changed to fit the style of the other, the choice was made to modify the mechanical design. Some reasons behind this choice were that the placement of the ultrasonic sensor was too high up to detect smaller robots, as well as the robot having a tendency to fall off when going forward because the wheels were in front of the sensor. In addition, creating an algorithm to attack the side of the other robot is not plausible due to the wide array of moves that would need to be accounted for and the fact that the arena is really small compared to the robots in the arena.
With these thoughts in mind, the mechanical team devised a new design that focuses on strength more than a complex algorithm. Overall, the scale of the design is larger to make the task of eliminating this robot more difficult as well as making the task of contacting other robots easier. The slanted front end, pictured in Figure 6, also follows this strategy by providing a good angle to push another robot without leaving a flat surface that an opponent could push against easily. Despite going for a bigger, more dominating design, movement was found to be a huge priority so the design utilizes two motorized wheels as well as two swivel wheels, shown in Figure 7, that allow the robot to turn and move around the arena very quickly. With all of the changes to the physical design, the sensors being used as well as their placements needed to be reworked. In the original design, the touch sensors were not very effective so, in addition to the ultrasonic that detects towards the front of the robot shown in Figure 6, a second ultrasonic sensor will be placed on the back of the robot to detect if the opposing robot is attacking from the back. Beneath each ultrasonic sensor, a light sensor will be placed in line with the wheels so either way the robot may be falling off, it will be able to reverse direction. In Figure 7 and 8, the placement of one of the light sensors is shown. With most of the new design put together and using one of the algorithms from the original design, minus the touch sensor portion, the design was tested against the box as shown in the video below.
 |
| Figure 6. Front of new design |
 |
| Figure 7. Underside of new design |
 |
| Figure 8. Back of new design |
Overall the new design seems to be more effective and when the other sensors are added, it will be even better. In the next week, the mechanical design should be completed with all of the sensors, and the programmers will work not only on implementing the new sensors, but also trying to improve the algorithm in a way that will decrease the possibility of the other robot being able to attack our robot from the side.
Feel free to leave comments.
No comments:
Post a Comment