Hockey Robot Contest:

Check Point 1 - ROS Basics

• Use rosserial library to perform ROS communication between raspberry Pi 3 and Arduino UNO R3 board.

Checkpoint 1 Report
Github repository - MobileRobots-checkpoint 1

Check Point 2 - Motion Control

• The robot has two geared-motor with encoders.
• Use PID feedback control to control the speed of the robot acturators.
• Given PWM signals to control each individual motor.

Checkpoint 2 Report
Github repository - MobileRobots-checkpoint 2

Check Point 3 - Sensor + Actuation

checkpoint 3 demo video

• Use only 14 seconds to complete both obstacle avoidance and target achievement.

Full Assembly:

Full Assembly (Side view) :

The two obstacle avoidance touch sensors:

Light Sensor (Inside the black box) and the GOAL touch sensor

Checkpoint 3 Report
Github repository - MobileRobots-checkpoint 3

Check Point 4 - Full Function Demonstration

• The robot should find the LED Light puck, capture it and find the correct goal door and put the puck into it.
• The specified goal door would emit Infrared Signals and the robot should tell which beacon is the correct goal.

Checkpoint 4 Report
Github repository - MobileRobots-checkpoint 4

Final Project: Hector SLAM + ROS 2D Navigation

• Use RPLidar and the hockey robot platform we built to perform Hector SLAM in unstructure environment.
• Use ROS 2D Navigation Stack to perform 2-D navigation with Hector SLAM on our robot.

PPT report
PDF report

Github repository - MobileRobotsFinalProject