Robo-Comp-2022

A mobile robot developed by undergraduate students for autonomous navigation and task execution. This project demonstrates trajectory control and sensor integration for competitive robotics.

Project Overview

The robot performs a complete autonomous mission sequence:

1. Line Following - 2-lap course navigation using 4 photo reflectors
2. Garage Parking - Precise 3-step parking maneuver with trajectory control
3. Goal Search - Wall-following and obstacle detection using PSD/ultrasonic sensors
4. Button Press - Automated manipulation with dual servo-controlled arm system

Hardware Components

• Main Controller: H8/3069F microcontroller (20MHz)
• Sensors:
  • 4x Photo reflectors (P5.0-P5.3) for line detection
  • PSD distance sensor GP2Y0A21 (10-60cm range)
  • Ultrasonic sensor HC-SR04 (forward obstacle detection)
  • 2x Rotary encoders (512 pulse/rev, 4x multiplication)
• Actuators:
  • 2x DC motors with 29:1 gear reduction
  • 2x Servo motors (RC1: arm positioning, RC2: magnet control)
• Communication: Arduino Uno for sensor processing and H8 interface

Software Architecture

H8 Main Controller (Program/main/)

• main.c - Core control with interrupt-driven state machine
• Line Following - Pattern-based differential steering (14 sensor combinations)
• Trajectory Control - 3rd-order polynomial path planning with real-time execution
• PD Control - Closed-loop position control (Kp=80, Kd=80*RsampTime)
• Interrupt System - 50Hz feedback control with 20ms sampling

Arduino Sensor Processing (Program/Arduino/)

• psd_sonic.ino - Integrated sensor fusion with H8 communication
• Sensor Averaging - 100-sample filtering for noise reduction
• Servo Control - Sequential arm and magnet manipulation
• Digital I/O - Binary signal transmission to H8 controller

Key Features

Advanced Line Following

• 14 distinct sensor pattern responses for robust navigation
• Cross-marker detection for lap counting (4-lap sequence)
• Adaptive motor control with differential steering

Precision Trajectory Control

• 3rd-order polynomial trajectory generation
• Multi-segment parking sequence: curve → straight → reverse curve
• Real-time encoder feedback with position error correction

Intelligent Sensor Integration

• PSD threshold detection (15-30cm range for wall following)
• Ultrasonic averaging (100 samples) for reliable distance measurement
• Dual-phase goal approach: wall detection → obstacle avoidance

Robust Control System

• PD controller with optimized gains for 196.5mm wheelbase
• Encoder-based odometry with overflow handling
• PWM motor control with directional logic and safety limits

Project Structure

Mobile-Robot/
├── CAD/                    # Mechanical design drawings
│   └── cad_final_report/   # Component technical drawings
├── Program/
│   ├── main/              # H8 main controller code
│   │   ├── main.c         # Core control program
│   │   ├── common.h       # Hardware definitions
│   │   └── r3069.h        # H8 register definitions
│   ├── Arduino/           # Arduino sensor processing
│   │   ├── psd_sonic.ino  # Integrated sensor control
│   │   └── Run/main/      # Competition versions
│   └── 参考資料/           # Reference materials and examples
├── Photo/                 # Robot assembly photos
├── Report.pdf            # Technical documentation
└── video.gif            # Demonstration video

Technical Specifications

• Wheelbase: 196.5mm (measured)
• Wheel Radius: 21.15mm with high-precision encoder feedback
• Control Frequency: 50Hz (20ms sampling rate)
• Encoder Resolution: 2048 counts/rev (512 × 4 multiplication)
• Motor Reduction: 29:1 gear ratio
• Communication: 115200 baud Arduino-H8 interface
• Power: Autonomous battery operation with motor brake control

Mission Sequence Implementation

Phase 1: Line Following (2 laps)

• 4-sensor pattern recognition with 14 response cases
• Cross-marker detection for lap completion
• Adaptive speed control (35-250 PWM range)

Phase 2: Garage Parking (3-step trajectory)

• Step 1: 40×1.57cm curve at 90° (5s duration)
• Step 2: 50cm straight approach (3s duration)
• Step 3: -40×1.57cm reverse curve at -105° (5s duration)

Phase 3: Goal Search (sensor-guided navigation)

• PSD wall detection (threshold: 15-30cm)
• Ultrasonic obstacle avoidance (threshold: 13cm)
• Sequential servo activation: RC1 positioning → RC2 magnet control

Phase 4: Automated Manipulation

• RC1 servo: 0-100° arm positioning (10° increments)
• RC2 servo: 0-180° magnet control (1° precision)
• Coordinated dual-servo button press sequence

Documentation

• Technical Report - Detailed system analysis
• Demo Video - Competition performance
• Code Documentation - Inline comments in Japanese/English

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Developed by undergraduate robotics team | Project Subleader & Software Manager: YANG