Robotics Report (EMS516U)

11/15/2023 Queen Mary
University of
London Mobile
Robot
Construction and
Programming
EMS516U – Introduction to Robotics

, Table of Contents
Table of Figures ...................................................................................................................................... 1
Table of Tables ....................................................................................................................................... 1
Abstract.................................................................................................................................................. 2
Introduction ........................................................................................................................................... 2
Procedure .............................................................................................................................................. 3
Object Movement .............................................................................................................................. 3
Tracking a line .................................................................................................................................... 5
Obstacle avoidance ............................................................................................................................ 6
Results and Discussion ......................................................................................................................... 10
Object Movement ............................................................................................................................ 10
Line following................................................................................................................................... 10
Obstacle avoidance .......................................................................................................................... 10
Conclusion ........................................................................................................................................... 11
References ........................................................................................................................................... 12



Table of Figures
Figure 1 - Showing ideal model of OSOYOO V2.1 Robot Car assembly [5] ............................................ 3
Figure 2 - Showing the code responsible for Infrared Signals ................................................................ 4
Figure 3 - Robot completing the wall following task. ............................................................................. 4
Figure 4 - Showing the code responsible for Line following. ................................................................. 5
Figure 5 - Robot performing line following task..................................................................................... 6
Figure 6 - Code for obstacle avoidance .................................................................................................. 9
Figure 7 - Robot performing obstacle avoidance. ................................................................................ 10



Table of Tables
Table 1 - Results obtained for obstacle avoidance. .............................................................................. 10
Table 2 - Calculation of percentage errors for the measured distances the robot made. ................... 11