2. PHYSICAL ROBOT IMPLEMENTATION
2.1. Chassis and sensors
The robotic vehicle's chassis was constructed from an Excalibur EI-MSD2003 remote control toy tank. The device was stripped of all electronics, gears, and extraneous parts in order to work with just the empty case and two DC motors for the tank treads. However, this left a somewhat uneven surface to work on, so high-density polyethylene (HDPE) rods were used to fill in empty spaces. Since HDPE has a rather low surface energy, which is not ideal for bonding with other materials, a propane torch was used to raise surface temperature and improve bonding with an epoxy adhesive. 機(jī)器人車(chē)輛的底盤(pán)構(gòu)造神劍EI MSD2003遙控玩具坦克。該設(shè)備被剝奪了所有的電子設(shè)備，齒輪和多余的部分，為了工作，只是空的情況下，兩個(gè)直流電機(jī)的坦克履帶。然而，這留下了一個(gè)有點(diǎn)凹凸不平的表面，如此高密度聚乙烯（HDPE）棒被用來(lái)填充空格。由于高密度聚乙烯具有相當(dāng)?shù)偷谋砻婺埽@是不理想的與其它材料的接合，用丙烷噴燈，以提高表面溫度和提高用環(huán)氧粘合劑接合。

Three Sharp GP2D12 infrared sensors, which have a range of 10 to 80 cm, were used for distance measurements. In order to mount these appropriately, a 2.5 by 15 cm piece of aluminum was bent into three even pieces at 135 degree angles. This allows for the IR sensors to take three different measurements at 45 degree angles (right, middle, and left distances). This sensor mount was then attached to an HDPE rod with mounting tape and the rod was glued to the tank base with epoxy. Since the minimum distance that can be reliably measured with these sensors is 10 cm, the sensors were placed about 9 cm from the front of the vehicle. This allowed measurements to be taken very close to the front of the robot.
三尖GP2D12紅外傳感器，其中有一個(gè)10〜80厘米范圍內(nèi)，分別用于測(cè)量距離。為了安裝這些適當(dāng)， 2.5 x 15厘米的一塊鋁在135度的角度彎曲成三連件。這允許采取三種不同的測(cè)量，以45度角（右，中間和左邊的距離）的紅外線(xiàn)傳感器。此傳感器安裝，然后連接到安裝膠帶HDPE棒桿用環(huán)氧樹(shù)脂粘在坦克基地。由于能夠可靠地與這些傳感器測(cè)量的最小距離是10厘米，從車(chē)輛前方的傳感器被放置約9厘米。這允許測(cè)量應(yīng)采取非常接近的機(jī)器人面前。