TLDR;#
Built a robot capable of autonomously navigating a competition “race track” in a small team of 4. Took charge designing the chassis, steering mechanism, motor driver, and competition strategy, playing a pivotal role in allowing our team to become one of only two teams to successfully take a shortcut, a handful to complete a lap, all while being one of the fastest robots (finishing laps in ~10 seconds).
About the competition#
(WIP)…
Mechanical Contributions#
- Iterated numerous virtual and physical prototypes for chassis, steering mechanism, circuit board mounts, suspension system, and bumper design
- Spearheaded the design and oversaw the manufacturing of the final aluminum chassis
- Developed the ackerman-like steering geometry
Electrical Contributions#
- Soldered and tested four custom full H-Bridges for motor control
- Validated circuit designs in Altium and troubleshot EMI noise issues from motor and more
Software Contributions#
- Developed a high-level state machine to implement competition strategy
- Utilized unstable breakdown point of sensors as map check-point triggers to mitigate IMU drift issues
- Tuned PID line following and steering control to tighten turn radius and speed
Results#
- Capable of withstanding rear, frontal, and side crashes from other robots and terrain
- Leap from a ramp ~1 ft high into pebbles with ease; 1 of 2 teams to successfully utilize this shortcut in this manner
- Quickly finished laps in ~10 seconds
- All accomplished within a few weeks