Jeremy

What it does

We built a robot that can complete the red obstacle track, performing full line tracking and obstacle avoidance, and return to its start position.

How we built it

We leveraged edge tracking to follow the line. We first calibrated the robot for the correct edge color, then as the color approached white (getting outside of the line) it would turn back inside, and it would turn outside as the image became more black/red.

Our obstacle avoidance algorithm used the ultrasonic sensor to detect when an obstacle was ahead, and we would perform a differential turn to get around it. Then, we would attempt to again find the line, and resume the line tracking algorithm.

Challenges we ran into

Initially, we attempted to use the two infrared sensors to perform line tracking. Although this performed well for black lines on a white background, we found that the infared sensors were not precise enough to determine the difference between lighter colors such as white and red or white and green. Therefore, we had to pivot to our current edge tracking algorithm, with the single color sensor.

Accomplishments that we're proud of

We are proud of the fact that despite our limited resources, we were able to piece together a capable robot capable of complex algorithms.

What we learned

We learned numerous things, especially learning more about edge detection and how to use each of the electrical components, and how to perform well with extremely limited resources.

What's next for Jeremy

Jeremy will go on to retire, living out the rest of their life peacefully with their family. We will look into giving Jeremy upgrades, such as further tuning of the edge detection algorithm and the ability to push cubes.

Built With

• arduino