The platform should be able to independently navigate our normal household
without getting stuck in/under something or falling down the stairwell.
This project has been down using previously purchased kits and very little
additional hardware. All of this is done using an ArduinoUno.
The platform drive system is a two wheel setup using a frewheeling cater wheel
at the rear.
The platform has been setup with a breadboard and mounting for the Arduino.
The Arduino is powered by a 9v battery.
The drive motors and other servos are powered by 4 C cell batteries in a
holder mounted to the underside of the platform.
Obstacle avoidance is achieved using a Sharp IR distance sensor. The sensor
is mounted on a servo that sits on a rotating base. This allows for X and
Y axis movement. This allows the same sensor to be used to detect vertical
obstacles in front of and above the platform as well as detecting dropoffs.
Project Phases.
Platform drive, wiring and software. - Achieved
Basic IR sensor object avoidance. - Achieved
Improved IR sensor object avoidance, detect dropoffs. - Achieved
IR sensor horizontal Sweep to avoid objects anywhere in robot path. - Achieved
IR sensor horizontal and vertical sweep to avoid low and high objects. - In process.
Raspberry Pi addition to enable remote communications.
Raspberry Pi Object tracking.