A Microprocessor Controlled Autonomous Sentry Robot.

A microprocessor controlled prototype robot was designed and built to perform as an autonomous sentry and serve as a test vehicle for evaluation of appropriate sensors and their associated interface circuits. A ten channel near-infrared proximity detection system was developed for use in collision avoidance, with moderate range navigational planning incorporated through use of a sonar system operating in conjunction with a long range near-infrared detector. The system was provided with a means of locating and connecting with a free standing recharging station when internal sensors detected a low battery condition. A software structure was created to provide supervisory control of the prototype and produce a reasonably intelligent process of goal achievement through execution of ordered sequences, with provision to deal with unexpected events of higher priority. Author