Escaping the maze
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Signals , Instruments and Systems. Escaping the Maze. Ezzat Leïla & Orthlieb Camille June 2010. Steps of the p roject. Description of the environment. Simplification of the world E- puck turns always left E- puck follows the wall at equal distance

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Escaping the Maze

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Signals, Instruments and Systems

Escaping the Maze

Ezzat Leïla & Orthlieb Camille

June 2010

Stepsof the project

Description of the environment

Simplification of the world


E-puckfollows the wallatequal distance

Use of front and sidesensors (0,2 and 5)

Use of compass and GPS datas

E-puckstartsupdatingits position after a corner

Detection of changes of colors

Responsevalue sent aftereach time step

Number of time stepsstockedbeforeeach change of color

Detection and storageof change of color

Link frequencies and location

  • Update believed positions from the corner


Deduce the wall

Know from which corner he starts

Find the good believed position

Like in maze…

From a known position, find the final point – the maze’s escape

Effect of noise on the IR sensor

  • Front Sensor : to move and turn

    • 1% of noise doesn’t change anything

    • 10% the robot can’tfollow the wall

  • Right sensor : to detectfrequency

    • 30% of noise doesn’t affect the measures

    • 50% doesn’tdetectany change of color

The movie


Main objectives reached

Our findings have to beimproved in order to escape a real maze

Make a code enought flexible to reproducemany times the lecture of frequencies and update positions

Revise the stability of the detect values

Face more random situations


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