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Martin and Omar's Wall Finding Robot

The goal of this project is to design and build a robot with the LEGO Mindstorms EV3 kit that will will detect when it is a certain distance away from an object / wall. The physical robot was designed to resembled a tank, hence the treads. A single motor was used to make coding slightly easier, and to because the robot does not need to turn. The ultrasonic sensor was placed as low as possible to the ground so that the robot would stop when it detects even the shortest object impeding its path.

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Two algorithms were used to control when to stop the robot: bang-bang and proportional control. The bang-band algorithm simply stops the robot when it reaches the ideal distance. It will also reverse when the robot is too close to wall as well correct itself when it has driven too far. The proportional control algorithm slows down the robot as it approaches its ideal distance from the wall. The distance the robot starts to slow down is controlled in the code.

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Bang-Bang Controller

Proportional Controller