Our group mainly used 3 sensors: the LIDAR sensor, a camera, and the camera system set out around the room. The LIDAR sensor was our way of detecting obstacles on the course as it gave us readings on hoe far away an object was from the robot. The camera was used to detect golf balls on the course by using blob detection on pictures taken in real time. Finally, the camera system in the room tracked the exact position of the robot to eliminate any accumulative errors the robot could make tracking its own position. With all three sensors combined, our strategy was to employ an Astar alogirithm to drive to the certain points in the course while detecting obstacles in the way with LIDAR and finding golf balls with the camera in which the ball grabbing algorithm took priority. Once the ball was grabbed, we tracked the position of the robot at the time and saved it in order to determine where the ball was in the course.
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