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Optimally Covering An Unknown Environment With Ant-Like STC Algorithm

Optimally Covering An Unknown Environment With Ant-Like STC AlgorithmSemester: Winter 2010-2011
Students: Majd Srour and Anis Abboud 
Instructor: Yotam Elor

Many insects interact by leaving pheromone traces in the environment. In this project the robot mimics that behavior by working on a floor covered with Phosphorescent color.

 

The robot can charge the color by lighting it with UV Leds. After being charged, the Phosphorescent color emits green light which can be sensed by the robot's camera. Using these markings, the robot is able to perform the coverage algorithm of Gabrieli and Rimon[1] and cover the floor optimally.

 

 

Project Book: [PDF]

Presentation: [PPTX]