SEEKER | UCSD ROBOCAR

MAE/ECE148 Team1 | Winter 2022

Our robocar, the Seeker, is designed to be able to search for, locate, navigate to, and collect red ping pong balls.

Team Members

• Parker Knopf (MAE)
• Jacob Bingham (MAE)
• Moises Lopez (ECE)
• Guy Shabtai (ECE)

Demo

Link: https://www.youtube.com/watch?v=l6U-Yuc_TLY

About

This robot was designed to seek and pick up red ping pong balls scattered around an environment

The robocar will locate the ping pong balls with an RGBD camera. It will then drive to the ball to perform a recovery maneuver using the webcam. It will be equipped with a suction tube to pick up the ping pong balls.

Info

Phase 1

• Locate ping pong balls in an open and unobstructed environment
• Pick up ping pong balls
• Use Lidar for collision avoidance
• Make decisions on what ping pong balls to pick up first

Phase 2

• All elements of Phase 1
• Locate ping pong balls with obstructions where they must be sought out by navigating around the environment
• ROS1 SLAM
• Extensive use of Lidar

Dependencies

• This project is to be run using linux on a Jetson Nano

• Download Docker: https://hub.docker.com/r/djnighti/ucsd_robocar

$ docker pull djnighti/ucsd_robocar

• Download Repository: https://github.com/gshabtai/ece148-team1.git

$ # Start Docker
$ # Attach to Docker
$ source_ros2 
$ cd src
$ git clone https://github.com/gshabtai/ece148-team1.git
$ cd ..

Set-up

1. Configure the Robot using the schematic
2. Boot up the Jetson Nano
3. After coneecting to the nano through SSH, start the docker

$ # Start Docker

4. Source Ros with docker integrated command

$ # source_ros2

5. Run the program

$ ./src/ece148-team1/seeker.sh

Hardware

Schematic