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The ANT2 (Autonomous Navigation Testbed 2) Project

I led a team of between 5 and 15 members over 2 years to build the ANT2 robot.

The ANT2 had 2 PC's, and 4 Intel 80196KC microcontrollers that read input from a video camera, 2 inclinometers, 8 sonar sensors, 16 proximity IR sensors to control 2, 1.5 hp motors all powered by 8 lead-acid batteries. The computers all communicated though a home brew serial multiplexor. We designed and built the robot from readily available parts. We designed and wrote the operating system to run on all the computers and control their communciation.

The robot upon completion competed in AUVS international robotic competiton in Michigan. We made 4th place. Our robot was designed so that it could complete in the competition but its primary design consideration was not the contest. Primarily it was designed as a naviational testbed for future researchers.

After that we all graduated and went different directions. I ended up here in Charleston WV. Where everyone else is I am not sure. The names of the team members are being witheld to protect the guilty.

I would be happy to list their names here but I do not know thier wishes. If you recognize yourself in these pictures and wish your name to appear in this web page, then email me.

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