Abstract
This paper describes Catrapilas, a small robotic platform, designed to be capable of solving some well known robot problems. Among these are some of the most popular robotic contests, like Micro Mouse, Fire Fighting and Autonomous Driving. It describes the major decisions and details of the physical architecture of the robot, but emphasizes on the high level approach used to control the robotic agent. This approach is based on the creation of a 2D map of the agent’s environment, which should contain all the information needed in order to solve the current problem. There is also a description of the implementation used for the Autonomous Driving Competition, from the 2005 Portuguese National Robotics Festival, and the results that were obtained. There is a focus on the robot’s ability to accomplish the objectives of the contest, and how this proved that the concept and ideas behind Catrapilas are correct.
Keywords
- Servo Motor
- Fire Fighting
- Perspective Image
- Robotic Agent
- Autonomous Driving
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, access via your institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Reis, L.P., et al.: Proceedings of the Scientific Meeting of the Portuguese Robotics Open, FEUP Edicoes, Coleccao Colectaneas, vol. 14 (April 23-24, 2004) ISBN 972-752-066-9
Micro Mouse Contest, University of Aveiro, Online, available at http://microrato.ua.pt (consulted on May 2005)
Micromouse UK, University of London, Online, available at http://micromouse.cs.rhul.ac.uk/ (consulted on April 2005)
Fireman Robot Contest, Informatics Department, E.S.T.G, I.P. Guarda, Online, available at, http://www.ipg.pt/estg/robobombeiro/ (consulted on April 2005)
Fire Fighting Home Robot Contest, Trinity College, Online, available at http://www.trincoll.edu/events/robot/ (consulted on April 2005)
Competition, Autonomous Driving class - Rules and technical specifications, National Robotics Festival (2004), Online, available at http://www.robotica2004.org/regulamentos/competicao_ca_040124.pdf (consulted on June 2004)
CMVision, CORAL Group’s Color Machine Vision Project, Online, available at http://www-2.cs.cmu.edu/~jbruce/cmvision/ (consulted on June 2005)
What’s a Servo?, Seattle Robotics Society, Online, available at http://www.seattlerobotics.org/guide/servos.html (consulted on April 2005)
Hacking a Servo, Seattle Robotics Society, Online, available at http://www.seattlerobotics.org/guide/servohack.html (consulted on April 2005)
USB 16-Servo Controller, Pololu, Online, available at http://www.pololu.com/products/pololu/0390/ (consulted on February 2005)
McManis, Chuck: Quadrature Encoder, Pololu, Online, available at http://www.mcmanis.com/chuck/robotics/projects/encoders/enc_quad.htm (consulted on June 2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cerqueira, N. (2005). CATRAPILAS – A Simple Robotic Platform. In: Bento, C., Cardoso, A., Dias, G. (eds) Progress in Artificial Intelligence. EPIA 2005. Lecture Notes in Computer Science(), vol 3808. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11595014_47
Download citation
DOI: https://doi.org/10.1007/11595014_47
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30737-2
Online ISBN: 978-3-540-31646-6
eBook Packages: Computer ScienceComputer Science (R0)