1. Lucien
George:
Project
Manager
Benjamin
Carrier:
So.ware
Design
Felix
Remigereau:
So.ware
Design
Adam
Apelowicz:
Mechanical
Design
Adam
Vasconcellos:
Tes6ng
Lead
Samantha
Pho:
Documenta6on,
Poster
The
Gump
SOFTWARE
HARDWARE
TEAM
BUDGET
Purpose
To
design
an
autonomous
vehicle
that
is
able
to
navigate
to
a
specified
shoo6ng
area
and
shoot
Ping-­‐Pong
balls
at
two
targets.
A.er
this,
it
must
travel
back
to
its
ini6al
posi6on.
The
robot
should
avoid
all
obstacles
while
execu6ng
this
task.
Wk
1
Wk
2
Wk
3
Wk
4
Wk
5
Wk
6
Wk
7
Adam
A.
4
h
8
h
7.5
h
11
h
9
h
9
h
10
Adam
V.
4
h
7
h
7
h
9
h
7
h
9
h
10
Ben
4
h
8
h
6
h
9
h
12
h
9
h
11
Felix
4
h
8
h
8
h
9
h
12
h
9
h
10
Lucien
5
h
7.2
h
8
h
10
h
7
h
9
h
11
Sam
4
h
7.5
h
8
h
7
h
8
h
9
h
11
Total
25
h
45.7
h
44.5
h
55
h
55
h
54
h
63
h
Reloading
mechanism
as
a
ball
is
shot,
another
falls
to
take
its
place
2
Ultrasonic
sensors
for
obstacle
avoidance,
localiza6on
2
Light
sensors
on
both
sides
for
localiza6on,
naviga6on
and
error
correc6on
Launcher
to
shoot
balls
Ramp
for
balls
to
launch
off
2
Wheels
used
for
mobiliza6on
OBJECTIVE
Bill
of
Materials
Ba^eries:
$15
Elas6cs:
$1
Ping-­‐Pong
Balls:
$6
Budget
Summary
Target
Budget:
378
h
Total
Budget:
341.2
h
%
Budget
used:
90.3%
Weekly
Budget
SpecificaQons
• Robot
Size:
30cm
x
30cm
area
• Can
shoot
up
to
3
balls
at
each
target
• Arena:
12’
x
12’
6led
area
(nine
4’
x
4’
panels)
Sensors
Class
• Filters
raw
data
from
the
sensors
• Moving
window
implementa6on
• Reference
light
level
adapts
to
changing
room
condi6ons
NavigaQon
Class
• Very
accurate
known
path
naviga6on,
independent
of
odometer
• Simple
maze
solving
algorithm
for
obstacle
avoidance
guarantees
successful
avoidance
• Corrects
the
odometer
by
aligning
light
sensors
to
grid
lines
• Uses
all
sensors
to
localize
allowing
for
fast
and
precise
localiza6on
Launcher
Class
• Simple
hardware
complemented
by
so.ware
adjustments
make
for
accurate
ball
launcher
shots
• Library
of
target
posi6ons
available
for
naviga6on
Class
Hierarchy
Launcher
Six
Ping-­‐Pong
balls
line
up
in
the
reloading
mechanism
[1].
A
motor
[4]
rotates
a
rod
[3]
to
hit
the
ball
on
the
ramp
[2].
When
the
ball
is
shot,
the
ball
is
replaced
by
another
one.
1
2
3
4
10%
16%
21%
29%
24%
Budget
Breakdown
Documenta6on
&
Poster
Team
Mee6ngs
&
Presenta6on
Hardware
design
So.ware
Tes6ng
Autonomous
Vehicle
Main
Method
NavigaQon
Go
to
target
posi6on
Set
target
heading
Sensors
Get
Distance
to
Obstacle
Is
there
a
line?
Filter
the
data
Launcher
Launch
Ping-­‐
Pong
ball
Ultrasonic
Sensor
Send/Receive
data
on
surround
obstacles/walls
Light
Sensor
Right/Le.
Sensors
Use
LightLevel
Odometry
Get
posi6on
Get
heading
Odometry
CorrecQon
Adjust
posi6on
Adjust
heading
LocalizaQon
Find
ini6al
posi6on
Find
ini6al
heading
TravelTo
Move
to
target
posi6on
Is
there
an
obstacle?
Obstacle
Avoidance
Wall
follower
Was
the
obstacle
avoided?
Legend:
:
Class
à
:
Implements
à
:
Feeds
class
to
Red
text:
Class
name
Black
text:
Key
methods
Target
ShooQng
Area
Obstacle
free
zone
Start
Area
North
West
Group
17
Winter
2015
1
NXT
Brick
at
the
center
of
robot