Time Trial Results

Our final design successfully completed four out of the six checkpoints. The remaining checkpoint involved navigating from the gridded area back to the start/finish position. Unfortunately, we ran out of bandwidth to implement this feature, but we had planned to use the IMU heading and bump sensor to achieve it. The following “Software” and “Code” sections highlight the approach and control scheme of our design.

The approach primarily relied on line sensing for navigation throughout most of the course. Our IR sensor successfully tracked a majority of the track but was unable to follow the diamond-shaped section. To address this, encoder ticks were measured up to the start of the diamond section, after which a constant motor effort was applied to bypass it. Once past the diamond, line tracking was re-enabled to navigate to checkpoint 4. No additional measures were taken to reacquire the line at checkpoint 5 and complete the course; however, the approach to finishing the course is discussed in the future implementation section.