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

Signals, Instruments and Systems

Escaping the Maze

Ezzat Leïla & Orthlieb Camille

June 2010

Steps of the p roject
Stepsof the project

Description of the environment
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
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
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
Like in maze…

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

Escaping the maze

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

Escaping the maze

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