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View Full Version : [Project] [Maximus] A robot for Eurobot 2011 Contest.



jbot
09-16-2011, 08:24 AM
Hi !

I'm going to introduce my robot which participate to the Eurobot2011 contest (so last year).

The goal was to build an autonomous robot able to take pawn, stack them, and put them the color of the robot (during 1min30 and versus another bot).
The electronics is composed by :
1 arduino MEGA : AI, motion control
1 arduino with LCD : to say his color to the robot and to start the robot
1 RoboClaw : to control the motors
1 sabertooth : to control the lifter motor

The mechanics is composed by :
2 Lynxmotion motors (GHM04)
1 DC motor for the lifter
2 Hitec 645MG for the gripper

The first prototype of the robot looked like that :
3478
It can only take pawn and move them.

http://www.youtube.com/watch?v=Es7o7vMFWxg

The final version of the robot is made of aluminium :
34793480

As you can see, I'm not very clean when I do connections...
3481

But everything work well with all these wires ! I had no problem of short-circuit or miss-connection.
And the final look of the robot :
3482

So, I will show you some videos now.
First, a video of a working test, without opponent on the field :

http://www.youtube.com/watch?v=vpn--Qq32x0

Then, some math from different cup (French cup, and French regional cup).
In these video, there is an opponent. To detect opponent, I add 2 Ultrasonic sensors on the top of the robot. Sadly, it was very noisy and the robot does not detect very well the opponent...


http://www.youtube.com/watch?v=L7ygUOJlGcQ

And to finish, a robot collision :D

http://www.youtube.com/watch?v=O3uMWcEt3Jg

That's all for this robot. It was a very good project to learn motion control. I hope to do better next year !

You can find the sources of my robot here :
https://github.com/JBot/Maximus/tree/master/robot_side/AI_and_motion_control

So, with the things I have learn, I've done an instructable for the position estimation with an arduino :
http://www.instructables.com/id/Position-estimation-of-a-wheeled-bot-with-arduino/

Thanks for reading :D
Jbot

Gertlex
09-16-2011, 08:13 PM
Nice and clean work there. I particularly liked the accuracy with which it turns and corrects itself.

Will you be improving it for next year or starting from scratch with a similar/different concept?

jbot
09-17-2011, 04:08 AM
Next year, I'm going to improve the motion control software and the object detection.
First test :

http://www.youtube.com/watch?v=7DgwM0FxCe4

But the rules for 2012 contest have not been presented yet, so I don't know yet which mechanics I will do. For sure I will put better motors and wheels, and the shape of the robot will probably be different.