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FIELD ROBOT COMPETITION

2014 Best Team Award!

With Basilio Dobras Castillo & Christian Lee Arrue.

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Field Robot Competition: Project

TASK OVERVIEW

1. Competing vehicles are placed at the starting line [1]. Throughout the competition vehicles are only allowed to be driven autonomously. 
2. At the end of each track segment where vehicles should turn, a red flower pot is placed. 
3. To simulate real field scenarios, there are various landscapes such as artificial grassland, wooden ground, and concrete hills. Vehicles should avoid getting off track or bumping into obstacles.
4. Before the ending line [10] is a traffic light. The vehicle is expected to stop when seeing a red signal. When the signal changes to green, the vehicle should then advance to the ending line.

Field Robot Competition: Welcome

VEHICLE DESIGN

Tricycle vehicle composed of two front active wheels and one rear passive wheel. Vehicle is differential driven.
Vehicle body is made of aluminum alloy materials.
We use the Arduino Mega as the core controller.

Field Robot Competition: Welcome

FUNCTIONALITIES

My contributions are sensor information processing and vehicle motion control.

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MECHATRONICS & AUTOMATION

1. The core microcontroller is Arduino Mega.
2. Sensors are HC-SR04 ultrasonic odometers surrounding the vehicle, which measures the approximate distance between vehicle and obstacles.
3. The control strategy is to maintain a distance above specific margin, between the vehicle and obstacles, in order to advance in the correct direction and avoid collision or getting off track.

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IMAGE PROCESSING

Aiming for the traffic signal color identification task before ending line.
Consists of a web camera and Raspberry Pi.
The logic is to capture the traffic signal by shape and size, then determine its color. Implemented with Python + OpenCV.

Field Robot Competition: Service
Field Robot Competition: Quote

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