MAXIMILIAN

EUROBOT 2011

Date: 2011
Supervisor: Branislav Borovac
Institution: FTN, University of Novi Sad

For this project, I was the team leader in a team of 5 people (Vasilije Anojčić, Stefan Vorkapić, Voislav Zec and Živko Crnojački). The goal was to create an autonomous mobile robot to participate in the EUROBOT 2011: Chess'up! championship.

My responsibilities were:

Work organisation and logistics
Electronics (power, sensors, main microcontroller and wiring communication)
Programming the main strategy algorithm
Obtaining sponsorships and parts

By the end of the project, we have produced a fully functioning, autonomous mobile robot, from scratch, which placed 6th (best in our generation) at the national qualifiers at which also senior teams and guest teams from abroad participated.

The line-following system developed created the basis for my BSc thesis [serbian].

EUROBOT 2011 RULES

PLAYGROUND

2 players
Figures
- King
- Queen
- Pawn
Blue & red fields

MAIN CHALLENGES

Recognising chess elements
Avoiding fixed obstacles (table edges)
Avoiding the opponent robot
Line tracking

STRATEGY

"MAXIMILIAN" Robot

ACTUATORS

Front actuators for gripping the chess elements

Inner actuator for lifting the robot

SENSORS

SHARP Infra-red distance sensors - used both for obstacle and opponent avoidance

RGB colour sensor (HDJD-S822-QR999) -used for line following

FINAL PRODUCT

LINE FOLLOWING

The main concept behind the line following, is using the left and right RGB sensor couples to detect the edges. This can be exploited to compensate the encoder’s error accumulation due to slippage. The approach can be used for precise turning and correcting the motion by aligning the wheels on the edges.

Precise turning through alignment shown in 6 steps:

LINE FOLLOWING DEMO

Straight motion by aligning to perpendicular edges and disturbance correction

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