Computer Executed Semi-Autonomous Robot

Abstract

CESAR is a computer-controlled reconnaissance robot. Designed primarily for military applications or early rescue efforts, CESAR is an all-terrain and highly durable set of “senses on wheels” which can reach a top speed of 27kph. It features dual video cameras, audio links, and remotely activated beacons and headlights. Unlike many robots of its kind, CESAR is semi-autonomous. Using sonar to detect obstacles and maneuver accordingly, CESAR can function with minimal user input. The user need only tell the robot which direction to go. This allows the operator to do other tasks or operate many robots at once. Should the sonar fail, an onboard bump sensor will detect the collision. By far the most difficult part of this project was programming the robot to use simple logic based on the sensor inputs. After much testing however, I was able to figure out an appropriate obstacle avoidance algorithm to guide the robot.

Engineering Goals

I plan to design a computer-controlled robot which will demonstrate the capabilities of robotic autonomy. By designing an "intelligent" program to control the robot, it will be able to navigate around obstacles without user input by using a sonar transducer. Furthermore, I plan to show the limitations of full autonomy for a mobile robot of similar function. My working model will be semi-autonomous. This robot will be designed primarily for reconnaissance-type missions, rescue work, and as a semi-autonomous powered vehicle for the handicapped. CESAR’s semi-autonomy will allow for very little human control thus granting one human operator the ability to control many such robots.