BLUNDERING BOTICS

LGM3 SPECIFICATIONS

Processor: ATMEGA16 on ARC1.1 PCB.

Sensors: 2 GP2D12, 2GP2D120, 1 SRF-05 Sonar, 1 UVTRON, 1 Pyroelectric, 2 shaft encoders.

Actuators: DC Motors with 2.5" Wheels.

Power: 12V 1600mAh Battery

Frame: 1/4" Expanded PVC

Overview

Xr-B4 uses a hybrid architecture, combining a high-level planner with low-level reactive behaviors. The planner uses an a priori topological map of the arena. The software was written in C and uses the AVR-GCC compiler.

Xr-B4 competed in the 2008 Trinity Fire Fighting Contest. He finished 16th out of 42 robots, completing only 1 of 3 runs. On the first run, all was well until he entered a room with contact paper on the walls. The contact paper tricked the IR sensors and he exited the room at a really bad angle, crashing and getting stuck while trying to turn. The second run ran perfectly. On the third run, he missed a turn for reasons unknown.

After Trinity, various low level code was reworked, and he recieved various hardware upgrades. The first was new motors which had shaft encoders. Even though he only uses these encoders in turning, they greatly improved his abilities to navigate. He also was upgraded from 9.6V to 12V batteries, which sped him up signifigantly. Unfortunately the new motors are slightly longer than the old ones so his entire lower frame was replaced, and while such construction was underway the bumpers were overhauled. All of the upgrades paid off and, in November 2008, he won first place in the Canadian National Robot Games.

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Electronics

New base for CNRG