Jacinda Clemenzi *
Piotr Mitros *
Ziaieh Sobhani *
Stefanie "Princess Flufflepuff" Tellex
BunnyBot was our entry into the Mobile
Autonomous Systems Laboratory held at MIT in 2002. It performed
fairly well. It was the only robot our year capable of bringing back a
- Drive to waypoint 1 by dead reconing (we know there are no
obstacles in the way). Bring it home by odometry.
- Triangulate locations of targets, pick closest one
- Go in straight line towards closest beacon, periodically
triangulating to get distance. To avoid obstacles, we use forward
IR. If we detect on obstacle in front of the robot closer than the
- Check if we can dodge the obstacle by going 45 degrees left or
right around it. If so, we do.
- If not, we turn parallel to it, and use a wall following
- If at any point we get wedged, we do a pseudorandom walk to get
- We back up 12 inches
- Turn to a "random" direction. We optimize for directions where we
see no obstacles, and away from forward
- Drive forward a random distance. We repeat until we're unwedged.
- Pick up closest beacon, and use same algorithm to bring it home
- Repeat from step 2.
See the images for (slightly) more information.