Optimizing a Bluetooth Ball Fetching Controller
Spring 2015

Spot, the robotic dog, is designed to play fetch. Bluetooth communication between the robot and a node inside the ball allow for triangulation of the ball relative to Spot. First, this paper highlights the general navigation algorithm designed to triangulate ball position. Using fmincon, the motion controller, algorithm criteria, and the Bluetooth signal, parameters were optimized to significantly reduce the search time and probability of failure of the ball fetching sequence. Next, the robustness of these algorithms was shown by adding odometry noise to location estimates, with almost no degradation in performance. These results prove the feasibility of incorporating fetching technologies onto Spot. 

The image below shows my Matlab simulation, which optimized the process by which Spot can find his ball using bluetooth signal strength as well as a camera mounted on his belly. My full report can be found here.