SE 423 Final Project

Objective

In order to complete the required tasks, our team divided the work in a way that would show each of our strengths. Marius was the leader on implementing Astar and obstacle avoidance. Alexis improved the function of LabView by implementing the ball location indicator. Kinga and Alex also implemented the course outline and gridlines in Labview. Alex, Kinga, and Alexis also worked together on ball retrieval and ball drop, as well as having the robot go to the waypoints. Kinga and Alex worked together on adding the extra feature of the robot speaking whenever it picks up and drops off the collected golf balls. All of us played a significant role in debugging the implemented code, as new code was added throughout the formulation of the project. Alex and Alexis worked on recalibrating the OpenMV app since our team got a new robot to work with.

The main sensors used for the project were the LIDAR sensor, the OpenMV camera, the encoders on the wheels, and the Optitrack system. The LIDAR sensors were used for obstacle detection. The OpenMV camera was used for the detection of the purple and orange golf balls, and allowing the robot to find the position of the balls. The encoder on the wheels allowed us to measure and control the velocity of the wheels, which also allowed for controlling the turn of the robot. The team also used OptiTrack to find the position of the robot in the course. The team used motors to spin the wheels, and servo motors to operate the gripper. The speakers were an extra device that added our robot some character as it spoke to the crowd.

All in all, the team members were able to use all of their knowledge gained throughout the course to make this robot do its job. It was very rewarding to see the robot do what we wanted it to do, just by implementing our skills gained throughout the semester.

The Team

Marius Juston - Lead Leader - Lead President - Lead Robot - Lead French guy - Identifies as a robot

Alexis Roels - Not creative

Alexandra Brown - Protector of Robot - Robot Guardian

Kinga Wrobel - Team member # 2 - tEAM aDVISOR