The software has been developed in MPASM (PIC assembler) in MPLAB
environment. The program, available for
download, should be considered as one of our first attempts to write
anything for PIC microcontroller.
The program's goal is to control a motion and give the robot an ability to
avoid obstacles. TeamUR the First has only one central proximity
sensor.
The algorithm is as follows:
Start: don't move for 3s
Loop:
If an obstacle is is not detected:
Move forward in 0.5s steps
else
Stop: don't move for 1s.
Back up for 0.5s.
while obstacle is detected
Make random turn: left or right
(0.5s)
Surprisingly that simple algorithm makes the robot moving pretty well.
Of course the robot's AI doesn't exceed the level of toy-police car, which is
able to back up when it bumps the walls :-).
Known problems:
