Maze Follower

Project Description

This project focused on developing an autonomous mobile robot capable of navigating a dynamic two-level indoor/outdoor environment to perform a complete delivery and retrieval mission without human intervention. The challenge required the robot to traverse grass, rocks, and woodchips; descend a ramp into an indoor maze; deliver a cubic package to a designated drop-off point; then retrieve a cylindrical package and return it to the starting point—all within 320 seconds. The robot leveraged ultrasonic and IR sensors, gyroscopes, DC motors, servo-driven grippers, and a robust Arduino-based control system to accomplish this. The navigation and path planning logic used PID control and gyro-based angular measurement for precision.

Despite mechanical and environmental challenges, including terrain obstacles and sensor inconsistencies, the robot successfully executed many of its low- and mid-level functions, including terrain traversal and gripper operation. The design process emphasized modularity, efficient manufacturing using 3D printing, and iterative testing. Lessons learned from PID tuning, sensor calibration, and enclosure design directly contributed to insights for future robotic platforms and highlighted the importance of tight integration between software, electrical, and mechanical subsystems.

Phase B Group 10 Presentation

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Project Accomplishments

Developed a modular robot with a custom 3D-printed chassis, enclosed drivetrain, and precision servo-controlled gripper.
Designed a power system to sustain robot operation for over 2.8 hours using a 12V 10Ah battery and L298N motor driver.
Programmed the robot using Arduino Due, implementing a PID-controlled navigation algorithm and gyroscope-based 90° turning.
Integrated ultrasonic sensors for obstacle detection and magnetic encoders for basic odometry feedback.
Performed multi-stage testing (low, mid, high-level), validating sensor responsiveness, gripper actuation, and terrain traversal.

Personal Contributions

Mechanical Design Lead:

Designed the entire robot chassis, drivetrain, and custom servo-driven gripper mechanism using CAD and modular 3D-printed components. Focused on minimizing weight while maximizing strength and modularity for terrain adaptation.

System Assembly:

Oversaw the complete mechanical and electrical assembly, including sensor mounts, motor integration, timing belts, and protoboard wiring layout to reduce clutter and improve accessibility.

Electrical Design

Built the full electrical system architecture, including motor control, power regulation (buck converter for 5V rails), and sensor integration. Ensured safe and efficient operation of all subsystems.

Embedded Software Development

Programmed the Arduino to perform autonomous navigation, PID motor control, servo actuation, and real-time sensor feedback. Developed and tested high-level task sequencing for delivery and retrieval using a state machine approach.

Testing & Iteration

Led iterative debugging and refinement of the robot's turning mechanics, PID tuning, and sensor calibration. Addressed key issues such as wheel enclosure jamming and servo over-torque by redesigning subcomponents.

Gripper Optimization

Refined the gripper placement and design to support passive holding of packages during traversal, minimizing load on servo motors during operation.

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