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Applied Robotics Club : Trinity2008 - Design Overview browse

Lego Robots

GMU Grand Challenge?

Trinity Competition

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Design Overview

Hardware

  • 3-Wheel Holonomic
  • 6 (or more) sharp IR sensors
    • 3x GP2D120 Long-Range
    • 3x GP2D12 Short-Range
  • UV-Tron flame detector
  • CMUCam3 (Optional)

Software

Two-tiered control:

  • Tier 1 -- Executive
    • Running on Gumstix
    • Controls routing through maze
    • Responsible for goal-satisfaction
  • Tier 2 -- Autonomic
    • Running on Robostix
    • Controls outputs to servos
    • Receives input from sensors
    • Applies corrections automatically
    • Seeks to achieve goal given by executive unless interrupted/updated