Localization

1. Team Indy(9) - prawnBot Single-NXT design to maintain stability ( low center of gravity ), simplicity ( both hardware & software ), lightweight, small and compact size. These features are important for precise maneuverability with respect to odometer. Optimum usage of all ports ( 3 servos and 4 sensors ) available in one NXT. Save costs and battery usage, yet the performance level is comparable to the dual-NXT design. ECSE 211 – Design Principles and Methods Grab pallet detected along the way Localization Go to Drop Off Zone Grab the pallet and lift it to a certain height. Stack the pallet if needed to A big photo of prawnBot with all ( if possible ) US, light sensors and motors visible Search Pattern Dual Ultrasonic Sensors to help prawnBot to identify and thus differentiate between pallets, cinderblocks and gaps. Include a “Sweep” with distance filter feature to eliminate unnecessary object while sweeping. Pallet detected Obstacle detected Obstacle Avoidance Pallet Found Go around the obstacles Claw design used to grab and lift pallet. Conveniently located and programmed as to not blocking the ultrasonic sensors while operating. All this is perform by using only one servo. Dual light sensors localization for location tracking. Includes “Gridsnapping” ability to maintain straight path, parallel to the axis. Features: gridSnapping() Dual-Ultrasonic Sensors gridSnapping() The first light sensor sees the line, followed by the second light sensor and record the data. The top US sensor is mainly used to detect cinderblock and wall. The first light sensor sees the line, followed by the second light sensor and record the data. prawnBot will do a calculation based on the data and align itself so that it moves if parallel to the axis The bottom US sensor is mainly used to detect pallet. It also helps in differentiating pallet and cinderblocks. prawnBot will do a calculation based on the data and align itself so that it moves if parallel to the axis