RTSS 06 CiberMouse Competition

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RTSS 06 CiberMouse Competition

• Presented By Team TAMOUSE
• Youngwoo Ahn, Ja-Ryeong Koo, Animesh Pathak
• Texas AM University, College Station

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Agenda

• Virtual Coordinate Generation
• Target Finding Methodology
• Returning methodology
• Conclusion

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Virtual Coordinate Generation

• Start position of the mouse is set as Origin.
• Based on the linear and rotational power applied,
  we generate the new approximate position of
  mouse.
• Derive the direction information by using
  calculated coordinates.

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Virtual Coordinates Generation (cont.)

(um)
(radian)
.
With the given equations above, two components of
the mouse movement can be estimated by the
following formulas.
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Virtual Coordinates Generation (cont.)
,
.
Thus, we have to keep track of the current
rOutPow and lOutPow to get the values of the
next values of coordinates and facing direction
in next time cycles.
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Target Finding Methodology

• Scheme for escaping wall following mode
• While moving in the maze, we use the direction
  information to avoid rotating a wall.

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• When we first hit a wall, store the direction and
  start following the wall in left or right
  direction
• During wall-following, if we encounter the same
  angle that we had when hitting the wall, then we
  quit following the wall and start going in this
  angle.

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Prediction of location for the target finding

• While moving in the maze, the mouse remembers
  the direction of the target
• which it saw the target finally, and the mouse
  moves toward the direction after
• escaping the wall following.

Problem
Solution
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• Once the mouse predicts the location of the
  beacon, the mouse stores its location reading and
  try to move toward it after following the walls.

If we encounter a wall on the path, start
following the wall till the end of its side.
Afterwards, start again in the direction in which
beacon was last seen.
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Returning Methodology

• Since we are moving in this virtual coordinate
  system, our start point is the origin.
• Direction is calculated using starting and
  current points.
• We use this direction information to travel to
  the starting point.

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Conclusion

• We have achieved the robot navigation using
• Virtual coordinate generation
• Specialized beacon tracking and following

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Thanks!