Autonomous_Robot_Grand_Challenge

This grand challenge will have 3x True Red blocks, 3x True Green blocks, and 3x True Blue blocks in the Grand Challenge. To receive a maximum score of 9/9, robot must successfully transport the red, green, and blue blocks to the Construction Zone in proper order. Any adversarial blocks (colors other than red, green, or blue) will count as a point deduction for each that ends up in the Construction Zone. Each block will be spaced by atleast 1 ft distance.

The project involves the key concepts:

• Object Tracking
• Object Retrieval
• Monocular Camera Depth estimation
• PID Control of the heading of the vehicle
• Collision Avoidance
• Localization (Odometry)

Main Sensors:

Raspberry Pi Camera, Sonar, IMU, Motor Encoders

Effectors:

DC Motors, Servo Motors, Gripper

Controllers:

Raspberry Pi, Arduino UNO

The arena top view is shown below:

Semester Long Journey Video (step by step): https://youtu.be/4WNlwtY3ymE

Snapshot view of the picked block:

Project