Autonomous Robot

In the summer of 2007, I was a partipant in the Research Experience for Undergraduates (REU) program at the University of Florida working in the Machine Intelligence Labratory.

We were each tasked to build an autonomous mobile robot, with a "unique" sensor to be demonstrated at the end of 10 weeks. My robot originally named "Ceuillir" was equipped with a custom ultrasonic receiver. The robot was programmed to find a corresponding ultrasonic beacon in an unknown environment. The final design included a two piece design, a chassis and a removable electronics "tray" seen in Figure 3. The robot was built around an Atmega128 microprocessor purchased from BDMicro.

Figure 1 - Side view

Figure 2 - Front view

Figure 3 - Robot chassis (left), Electronics "tray" (right)

The robot was equipped with a single forward facing ultrasonic range finder for obstacle avoidance, an alphanumeric LCD for feedback/debugging and a servo actuated arm. Figures 4 and 5 show the arm in the "down" position, where it was pick up the ultrasonic beacon with its magnetic gripper. Unforunately the servo chosen was underpowered for the job, so the result was to drag the beacon instead (oops!).

Figure 4 - Arm front

Figure 5 - Arm down

The rest of the images below are from the build process, including the original AutoDesk Inventor mockups.