2!
1. Autonomous*mode*
The%default%function%of%the%robot%is%set%for%autonomous%navigation%with%potential%field%path%planning.%Robot%has%
a%tendency%of%following%a%wall%or%objects%on%the%left%or%right%hand%sides.%The%robot%automatically%avoids%collision%
by%front%side%sonar%scanning.%In%case%the%robot%collides%with%an%obstacle,%the%robot%detects%the%collision%by%
accelerometer%and%moves%away%from%the%obstacle.%Therefore,%the%human%intervention%during%the%mapping%
process%is%minimized.%In%case%users%do%not%want%to%use%the%automatic%scanning%and%navigation%function,%manual%
navigation%functions%are%also%available.%
%
Autonomous%mode%also%supports%patterned%motion.%There%are%four%supported%patterns%such%as%linear,%circular,%
arc,%and%square%motions.%Users%can%specify%size%of%the%motion%via%parameter%entry.%
%
For%autonomous%navigation,%the%gap%to%the%wall%is%optimized%for%PID%control%and%path%planning.%The%distance%to%
the%wall%is%preset%to%be%50cm.%Users%can%change%the%gap%distance%for%different%applications.%The%robot%is%able%to%
move%around%corners%and%make%sharp%turns%by%auto%navigation.%
2. Manual*mode*
In%manual%mode,%a%user%can%use%a%cellphone%like%a%remote%controller%via%Bluetooth%communication.%Supported%4%
manual%motions%include%'move%front',%"move%back',%'turn%right',%and%'turn%left'.%%Figure%2%displays%Ottugi%app%
running%in%Android%mobile%phone.%%This%app%can%be%either%downloaded%from%Google%Play%Store%or%obtained%from%
Phomatix%customer%service.%(Currently%the%app%works%with%Android%version%5.0%and%higher.)%
%
%%%%%%%%%%%%%%%%%%%%% %
Figure'2:'Ottugi'App’s'main'screen'
When%the%Ottugi%app%is%launched,%it%connects%to%robot%through%Bluetooth%automatically.%The%connection%status%is%
indicated%in%the%Bluetooth%status%(3).%If%the%app%does%not%connect,%try%“scan”%in%the%sub%menu%(2)%or%try%reset%
button%of%the%robot.%By%selecting%the%button%(6)%or%(7),%robot%works%in%either%manual%or%automatic%mode.%
Followings%explain%the%buttons%on%the%screen.%%
