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University de Aveiro Electronics and Telecommunications Department MOBILE ROBOTICS “WHISPER - A mobile robot platform for surveillance purposes” Students: António Branco Pedro Kulzer Course: Mobile Robotics Professors: Keith Doty Scott Jantz 21rd July, 1995 CONTENTS ABSTRACT EXECUTIVE SUMMARY INTRODUCTION INTEGRATED SYSTEM MOBILE PLATFORM SENSORS INFRARED SHARP SENSORS BUMPER CONTACT SWITCHES IR PHOTOTRANSISTOR - SPINNING RETINA First Approach - IR synchronism Electronics Second Approach (actually used)- Shaft Encoder synchronism Interrupt Driven Sampling Subroutines Image Sampling Process ACTUATION BEHAVIORS ADAPTIVE THRESHOLD OBSTACLE AVOIDANCE BEHAVIOR COLLISION BUMPER FOLLOW LIGHT FOLLOW MOVEMENT USING SEVERAL BEHAVIORS - PROCESS STRUCTURE EXPERIMENTAL LAYOUT AND RESULTS AVOID OBSTACLE BEHAVIOUR EXPERIMENTAL RESULTS FOLLOW LIGHT BEHAVIOUR EXPERIMENTAL RESULTS FOLLOW MOVEMENT BEHAVIOUR EXPERIMENTAL RESULTS CONCLUSIONS DOCUMENTATION APPENDIX A - MISCELLANEOUS RANDOM FUNCTION MATH FUNCTIONS APPENDICE B - SOURCE CODE OBSTACLE.C MODULE FLOW.ASM MODULE FOLLOW.C MODULE FLOW.C MODULE AUTHORS ABSTRACT The robot discussed in this report is intended to be used as a surveillance robot and programmed to avoid obstacles, follow light or follow movement using basic optic flow concepts. An adaptive obstacle avoidance behavior, allows the robot to adapt to new environments, as well as enabling it to explore into large or small rooms. It is not intended that the robot covers the entire room when passing through it; it is only needed that it can wander about the rooms freely and in a coarse manner. Using both the avoidance and follow light behavior, allows the robot to move into brighter areas, enabling it to detect rooms with light. This presents some problems concerning unforeseen reflections. Using both the avoidance and follow movement behavior, allo