Tank 2 - autonomous rover

Let's Make Robots Robots
1

Navigate around via IR 2DOF sensor turret; Avoid dangerous slopes via accelerometer

  • Actuators / output devices: 2x Solarbotic 224:1 GM3 Geared motor; 2x TowerPro SG91R micro-servo
  • Control method: autonomous
  • CPU: Arduino 2009
  • Power source: 6x AA NiMh cell
  • Programming language: Arduino C
  • Sensors / input devices: Sharp GP2D12 IR; Ldr; DE-ACCM2G Accelerometer
  • Target environment: Indoor; mild outdoor.
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/tank-2-autonomous-rover
2

What an amazing robot!

I’m amazed to see it react to obstacles in more than one plane. And the edge control is stunning. This is way better than the usual stuff of off look ahead go left/right… etc.
Great work!

3

One word: wow!Care to share

One word: wow!

Care to share the code? I don’t remember seing a robot doing that… How did you do it?

4

i am happy to see interest

i am happy to see interest in my work

i have attached the arduino source code

the idea is to sense the front cone of space 

the head perform  160° sweep at different elevation

topmost elevation is orizzontal to sense height obstacle

other 3 elevations are pointing ground at different angles that means distance from the rover…

 

so the routine il like this:

set head to 0° elevation and scan horizzontaly from -80° to +80°

set head to -50° elevation and scan horizzontaly from -80° to +80°

set head to -60° elevation and scan horizzontaly from -80° to +80°

set head to -70° elevation and scan horizzontaly from -80° to +80°

 

set head to 0° elevation and scan horizzontaly from -80° to +80°

set head to -60° elevation and scan horizzontaly from -80° to +80°

set head to -50° elevation and scan horizzontaly from -80° to +80°

and so on…

 

 

if abnormal reading: stop motor; repeat at will the horizzontal scan at current elevation; rotate body untill horizzontal scan is clear.

 

5

Thanks! I had a look at it,

Thanks! 

I had a look at it, but it seems it will take me a while to understand what you’ve done there. Some things are simple to get, but others will take some drawing to actually get why they are that way. Especially the functions in Head2DOF file are hard to get. But I’ll work at it.

Cheers!

6

Very nice bot my friend. I

Very nice bot my friend. I like the moves of the head and its precision. Keep up the good work for us :slight_smile:

7

Very life like

The turret was a good idea. You have managed to put life into your machine.

8

Whoah, hold the phone!

You mean there are no floor detectors between the front wheels? All is done with the one sensor on the neck?!

Double awesome!

9

yeah man chicken style -> go

yeah man chicken style -> go vegan!

10

Great work. Will you install

Great work. Will you install additional sensors for better/faster scanning ? 

11

WOW Amazing project !!!

Very interesting  !!! you probably open a new age of Robot project !! 

Cheers from Canada !!

Michel

12

For what purpose do you use

For what purpose do you use the LDR ?