Escaping the Maze
Ezzat Leïla & Orthlieb Camille
June 2010
Signals, Instruments and Systems
Steps of the project
e-puck randomly placed in the environment
Reach a wall
Follow the wall reading the
frequency using the IR sensors
Link the found frequency and the
localization
Find the absolute localization
Move around the world to find the
final point
Description of the environment
• Simplification of the world
• E-puck turns always left
• E-puck follows the wall at equal distance
• Use of front and side sensors (0,2 and 5)
• Use of compass and GPS datas
• E-puck starts updating its position after a corner
Detection of changes of colors
• Response value sent after each time step
• Number of time steps stocked before each change of color
• Detection and storage of change of color
Link frequencies and location
Detect frequency
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’t follow the wall
• Right sensor : to detect frequency• 30% of noise doesn’t affect the
measures• 50% doesn’t detect any change
of color
The movie
Conclusion
• Main objectives reached
• Our findings have to be improved in order to escape a real maze • Make a code enought flexible to reproduce
many times the lecture of frequencies and update positions
• Revise the stability of the detect values
• Face more random situations
• Appreciations