Detecto-Remov-O Kart
A
smart kart which is designed to find
his way to the
destination marked by LED source and also clear all the obstacles on
the way by remove them with the automatic arm and clamp.
Result
Overall the designed functioned as expected, however several
unforeseen problems still existed. One problem is the fact that the
motors output different torque when given the same pwm and voltage
supply. This caused severe issues during the programming of the
kart’s behavior since the kart veers towards one side when
driving forward and turning angles are different for left and right
turns. This control of the kart problem resulted in the inability to
position the kart accurately which led to error in the determination of
the obstruction with the infrared sensor. Since the infrared sensor is
non-linear, there existed two locations that could trigger the pickup
of the obstacle, one of which was too close to the kart to be picked
up. Many attempts to resolve the issues in software were attempted but
yield only minor successes.
Conclusion
Overall the project was successful; the kart can determine
the light source and location of the obstruction relatively accurately
however due to the motor’s behavior, only moderate successes
in picking up the obstruction in automatic mode.