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The ANT (Autonomous Naviational Testbed) Robot

The ANT robot was the first robot that I volunteered to work with.

The ANT robot is interesting in that it uses 7 sonar range finders and a neural network to navigate though a maze. The maze is supposed to be a simulation of a room and piller undergound mine. The navigation techniquies developed for this robot are for the design of future robots to explore dangerous mines that have been closed.

This robot used a 386 PC with an AC Power cord as its only attchement to the robot. It has an drive motor, steering motor and two small motors to pan and tilt the 8th sonar sensor.

This robot had allready been built and in use when I joined the work on the robot. I helped to design an object avoidance routine for the robot. I also documented the existing software for the robot and compiled a small book to help new people that wanted to join us.

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