Robot Navigation System

Robot Navigation is a large component of current robotics research. In this paper, a method to implement the “go-to-goal” aspect of navigation is discussed. Specifically, I will first discuss a method called Egocentric Navigation, which was developed at Vanderbilt University’s Center for Intelligent Systems. Then improvements toward making the system more accurate and efficient will be proposed. Finally, the experimental and simulation results of this new Egocentric Navigational system follow. In total, this paper will lay out a complete system for implementation on a robot which will accomplish navigation to goal in a landmark-based “egocentric” manner.

Inex Interactive C Robot Kit

High performance C programmed robot kit

For power hungry hobbyists

Perfect for students, or anyone looking for an easy to build robot that is programmed in C

The Inex Interactive C Robot Kit V2.0 includes the AX-11, a 68HC11 based microcontroller board, an assortment of great sensors, 2 DC gearboxes and mechanical parts for building and modifying 8 sample robot projects (see manual below).

The AX-11 microcontroller board

The AX-11 microcontroller board is a modified version of the popular Handy board from MIT. The AX-11 is a microcontroller system that is used to run robot design courses and competitions at the university and high school level, build robots for fun, and control industrial devices. This board uses the 68HC11 microcontroller and has 32KB non-volatile RAM, 9-digital inputs , 21-channels 8-bit ADC, 4-DC motor driver, 6-Servo motor driver, a 16x2 LCD module for display and an infrared LED with 38kHz IR module. Data can be downloaded from your PC via its RS-232 port.

The Inex Interactive C Robot Kit is programmed in C. The Interactive C environment consists of a compiler (with interactive command-line compilation and debugging) and a run-time machine language module. It has many functions and libraries to directly support robot programming.

Includes

• Controlled by 68HC11 Microcontroller
  
• 32KB non-volatile RAM
  
• Serial port interface
  
• LCD 16x2 display
• Piezo speaker
  
• Ability to drive 4-DC motors (2 gearmotors are included)
  
• 6-Servo motor ports (servo motors sold separately)
  
• 6-Digital inputs
  
• 8-Digital outputs
  
• 21-Analog inputs
  
• 12V Power Supply (included)
  
• 6xAA battery holder
  
• Sensors (GP2D120 IR ranger, 2 wheel encoders)

This kit comes complete with Thai manuals (English manual can be found below) and CAI software for learning to program the robot. Everything you need to successfully build your robot is provided.

The manual includes instructions on using a SFR04 ultrasonic rangefinder (RB-Dev-01), IR proximity sensors (RB-Lyn-02) and the CMPS03 magnetic compass (RB-Dev-03) which can easily be interfaced with the Interactive C Robot (sold separately). Add any of our sensors and increase its awareness!

PIC16F84 based Hexapod Robot

This Hexapod Robot created by Mike Smyth. It uses 12 R/C servos for actuators. The 6 that raise and lower the legs are Hobbico CS-72 1/4 scale and the 6 that move the legs forward and backward are several brands of standard 1/10 scale servos (all are similar the Futaba S3003). The total robot weight is a little over 5lbs and the payload capacity is around 5lbs additional. The vertical travel of the legs is 1 7/8". Overall length and width is 13" X 11". When crouching, it's 5.5" tall. When standing up there is 3.5" of ground clearance under the body.


There are actually two PIC16F84's on the hexapod. The main processor contains all of the walking code and generates positioning pulses for all 12 servos. Twelve of the 13 I/O lines are used for switch inputs - one on the bottom of each foot and a contact sensor in the front of each leg. The servo pulses are output sequentially on the last I/O line. All the second processor does is de-multiplex the pulses from the main processor and send them to the appropriate servo