Lab 3

1. Lab 3 Braitenberg Vehicles TAs Bruce Burnett Isaac Dekine Richard Juchniewicz

2. Who is Braitenberg? • Valentino Braitenberg

3. What is a Braitenberg Vehicle? • Machine designed to produce complex behaviors based on simple connections between its sensors and actuators • In our case, we’ll be using light sensors

4. Basic Concept • Each robot has a pair of light sensors on the front • Robot A: Left sensor controls left motor and right sensor controls right motor • Robot B: Left sensor controls right motor and right sensor controls left motor • Which robot is a Photovore? • Which robot is a Photophobe?

5. Your Assignment • Each team will construct their own Braitenberg Vehicle which is attracted to a stationary 60W light source • The robot must be able to navigate to within a 6” radius around the light source in one of the 3 two minute long attempts • Those robot which do not make it to within 6” of the light source will be awarded points based on their distance from the light source • Bonus points will awarded to those robots that stop with in the 6” radius without touching the light source

6. Constraints • The robot will be arbitrarily placed, by the TA, between 12”-24” from the light source. • Additionally, the robot will be angled slightly away from the light source, by the TA, at an arbitrary angle between ±45o

7. Suggestions • Don’t use a fixed threshold value to detect light changes • Subtle changes in sunlight or the opening of a window can cause your threshold value to become useless • Use Lego pieces to narrow the light sensor field of vision • This can make a world of difference in a robot’s behavior • Build a robot platform which has 6”X6” foot print • It will save you a lot of work on later labs

8. Demo Date • Tuesday February 7th, 2006 • During Recitation 1:30PM-2:30PM • In the Robot Education Lab (REL) • Please present a copy of the grading sheet to your grader at the demo

9. Questions?