About the Project

Each team was assigned specific mission objectives which must be completed to accomplish the task. We were assigned as the data extraction team, which comes with various objectives listed below, along with the general goals we must complete. Additionally, our OTV design has various restrictions regarding design, method, components etc. that are required for our model to be considered. We provided a list of the various objectives and requirements, along with a visual of the arena below:

Mission Specific Objectives:

Our three mission specific objectives include:

Navigating to within 150mm of the Payload (mission site)
Connecting to the two nodes and extracting the correct duty cycle (within 5%) that the payload displays
Determining the magnetism of the puck at the bottom of the payload

Payload (our mission site)

General Requirements:

The general requirements that every team must complete include:

Completing the mission specific objectives
Navigating sucessfully passed two obstacles
Finishing in the endzone in under 5 minutes

General Constraints:

Some general constraints include:

Mass must be 0-3kg
Must have a rechargeable battery (move autonomously)
Include a kill switch that is has Tamiya connectors attached
There must be Wifi communication between the OTV and visions system (connected with an Aruco Marker)

The Arena:

The image below shows a simplified version of the arena that our OTV had to navigate through. The white rectangles represent barriers that our OTV must pass, whereas the black and white circles represent possible locations that these barriers may be placed (the arena is randomized the day of testing). The locations marked A and B represent the two possible starting locations for our OTV (also randomized day of testing). The payload is placed at the opposite location of our OTV. The different colored arrows (yellow and blue) represent the pathways we would take if placed at either location.

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