A.T.O.M.

(Acorn Transfer Operations Module)

Project Objectives

The project's objective is to design and build an autonomous mobile robot capable of autonomously orienting, navigating, and manipulating game elements to outperform an opponent. This robot, an untethered, autonomous mobile platform, will be part of a competitive scenario to clear and relocate ACORNs (A Cylindrical Object Representing a Nut), to the neighboring yard. The goal is to have fewer ACORNs in one’s yard than the opponent.

The Game

Spurling is a robotic game where each autonomous robot, SQRL (System for Quick Removal of Litter), competes to strategically maneuver ACORNs (A Cylindrical Object Representing a Nut) across a divided arena into the opponent's YARD (Yet Another Region for Dumping). Utilizing IR beacons from TREEs (Tubular Repository of Excess Eject-ables), SQRLs need to recognize their starting YARD and navigate using tapes marked across the arena. Each match starts with an ACORN placed by the team within their YARD and five more in each TREE, ready to be deployed.
The competition continues as SQRLs identify their YARD, collect ACORNs, and score by sliding them under the FENCE (Fortification Ensuring No Crossing, Except for ACORNs) without crossing into the opponent's territory. Scoring is based on the colored zones where ACORNs land: 1 point for white, 2 for green and pink, and 4 for yellow. The winner is the SQRL with the lowest score in its YARD.

Game Strategy

Upon activating the gameplay button on A.T.O.M., the robot will immediately begin to blink its red LED at the top while simultaneously closing its gripper to secure the ACORN placed by a team member. Following this, A.T.O.M. initiates yard identification through a rotation, monitoring encoder ticks to recognize its yard. Once its yard is determined, A.T.O.M. will raise the flag corresponding to its identified yard. The robot will then continue rotating to position itself towards the Beacon at the far right diagonal direction. Subsequently, A.T.O.M. advances forward until its tape following sensor detects the intersection of the black tape, signaling its arrival at a key point.

Completing these steps, A.T.O.M. will rotate counterclockwise to align with the Beacon on the right side within its own yard. It then proceeds to move forward, guided by line following, until the front distance sensor is activated, indicating proximity to the TREE. At this point, A.T.O.M. will secure an ACORN with its gripper, then reverse to launch the ACORN into the opposing field. A.T.O.M. repeats this sequence to clear all ACORNs from the TREE, then moves to the TREE on the opposite side to continue the process. Once the Timer of 2:18 expired, A.T.O.M will stop flashing red LED and place its flag back to netural position.

A.T.O.M. Core Functionality

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Yard Detection

The functionality for detecting yard occupancy was established through a combination of signal conditioning circuits and software algorithms. This involved initial calibration of the combined encoder ticks from both the left and right sides to account for a complete 360-degree turn. The system then analyzes the cumulative encoder ticks from specific reference points to determine the precise discrepancy between encoder readings, adjusting the figures to circumvent any overflow complications. Following this, it ascertains the active yard – either Ed's or Karl's – by evaluating which pair, TreeE&D or Tree K&A, has the higher tick count.

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Line Following

The line following mechanism was implemented using a trio of IR sensors mounted on the bottom of A.T.O.M., aimed at detecting the contrast between the black tape and the surrounding surface. By calibrating the sensors to distinguish the high contrast of the black line against lighter backgrounds, the system efficiently identifies the path to follow. A bang-bang control strategy is employed to steer the A.T.O.M., making corrections to maintain alignment with the tape. When the sensor detects a deviation from the black line, the controller responds by introducing a speed differential in wheels, thus ensuring the A.T.O.M. follows the black tape with precision.

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ACORN Launching

The ACORN launching system was realized through an integrated gripper and launcher mechanism, leveraging an IR sensor positioned beneath the gripper to detect the ACORN's presence. Upon sensing the ACORN, the IR sensor transmits a signal to the PIC, prompting the gripper to close and secure the ACORN. Prior to activation of the launch sequence, the gripper reopens, allowing for the deployment of the ACORN. The launching is powered by a servo motor equipped with a planetary gearbox, selected for its high speed, which facilitates a swift and powerful release. To optimize the launching velocity, the A.T.O.M system energizes the servo motor with a 6V supply, ensuring that the ACORN is propelled with maximum speed.

A.T.O.M. In Game

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