Worksheet: Obstacle Detection

Introduction to Mobile Robotics > Obstacle Detection

This worksheet is provided for reference only. Be sure that you follow the steps in the online directions, and answer the questions at the appropriate times. Fill out all your answers on a separate sheet of paper.

Construct: Touch Sensor

1. What did the robot do? The robot advanced forward and then when the touch sensor hits the wall the robot stopped moving. 2. What caused the robot to stop? The robot was programmed in a certain way so that it would stop when the touch sensor hits the wall. 3. Do you think its a good idea for the robot to run into obstacles and stop? Yes its a good idea for the robot to run into the obstacles and then stop otherwise it would keep going. However we should take care that when hitting the object the robot doesnt cause damage. 4. What are the benefits and drawbacks of this behaviour? The benefits are that the robot stops easily and does not continue driving into the wall. However the drawbacks are that the robot might get confused and stop at a different object.

5. What did the robot do? The robot advanced forward and when it censored the object it stopped.

6. What caused the robot to stop? The Ultra Sonic Sensor was programmed so that the robot stops. 7. How far away from the obstacle did the robot stop? The robot stopped 10 centimetres before the object. 8. What are the benefits and drawbacks of this behaviour? The benefits are that it will stop when it senses an object and will not hit into it. The drawbacks include getting confused and stopping at the incorrect time. 9. How reliable is this sensor as opposed to the touch sensor? The touch sensor is more reliable as it actually is aware of the object, however the ultrasonic sensor is safer. Contemplate

10. Think about the Construct Phase that you just completed and compare using the touch and ultrasonic sensors. i. What is the main difference between the two programs? The wait block is either programmed to the ultrasonic or the touch sensor. ii. What is the main difference in the robots behaviour when you use each of the different sensors? With the touch sensor the robot stopped when it hit the wall. However with the ultrasonic sensor the robot stopped before hitting the wall.

11. The ultrasonic sensor allows you to stop before you reach an object, rather than after youve run into it. What are the benefits and drawbacks of this behaviour? A benefit of the ultrasonic sensor allowing the robot to stop before reaches an object is that it can continue moving and it will stop when it senses an object. The drawback is that it does not stop easily when it hits the wall. 12. The touch sensor only has two settings, pressed and not pressed. The ultrasonic sensor, on the other hand, can sense any distance between 0 and 200 centimetres.

i.

Why do you need to set a threshold level for the ultrasonic sensor, but not for the touch sensor? The touch sensor has to touch the object; however the ultrasonic has a number of options.

ii.

What happens to the robots behaviour as you change that threshold level for the ultrasonic sensor? If the threshold level was to be changed then the robot would stop closer or further away from the object depending on the new threshold level.

iii.

Continue: Detecting Everyday Objects

Observations:

13. What does the sensor show when it has difficulty detecting anything? The robot would continue driving forward if it could not detect anything. 14. Does the shape or curvature of an object make a difference? The robot recognises the curved shape of an object at a certain distance though a flat object is not recognisable. 15. Does the sensor detect soft or hard objects better? Why do you think this is? I think that the robot detects hard objects much better than soft as they are more solid. 16. What is the smallest object detected? Small robotic rod. 17. Does the sensor detect thin objects well? The sensor detects thin objects as well though they must be tall and solid. 18. Turn the sensor 90 degrees on its side so it is positioned upright. Does it detect thin objects better now? No thin objects did not detect thin objects better in an upright position.