General information
| Team name: |
Bullseye |
| Institution: | Wageningen University |
| Department: | Farm Technology Group |
| Contact: | Jan Willem Hofstee |
Team details
| Mentors: | Joris Ijsselmuiden, Sam Blaauw |
| Members: | Rick Stegeman, Adrie Meeuwesen, Thijs Ruigrok, Sander Bouwknegt |
Robot – basic information
| Web page: | Www.robatic.nl | ||
|
Dimensions: (W × L × H) |
50x95x105 cm | ||
| Weight: | 35 kg | ||
| Num. of wheels: | 4 | Turning radius: | 15 cm |
| Rain resistance: | Splash proof | ||
Robot – mechanical details
| Drive concept: | Direct drive |
| Steering: | 4 wheeled ackermann |
| Special characteristics: |
Robot – electrical details
| Powered by: | ZIPPY Flightmax 8000 mAh 6S1P 30c | |||
| Motors: | Maxon brushless motors | |||
| Controller: | Motion Mind rev. 2 | |||
| Sensors: | Camera: | 3x Microsoft LifeCam HD-3000 | Compass: | Xsens mti-30 |
| Ultrasonic: | - | Gyroscope: | Xsens mti-30 | |
| Infrared: | - | Accelerometer: | Xsens mti-30 | |
| Laser: | Sick LMS111 | Mechanical: | Kverneland potentiometer | |
| Other: | Arduino Uno | |||
| Communicatio: | WiFi, bluetooth | |||
Robot – Software
| Operating system: | Ubuntu 14.04 with Ros Indigo |
| Programmed in: | Python |
| Tools: | |
| Other: |
Robot – Strategy
| 1st task: | Using the cameras and laserscanner information, rows are detected. This information will be converted using sensor fusion and PID controllers to motorcontroller commands. |
| 2nd task: | Same as task 1, but now with additional info of which rows to drive in. |
| 3rd task: | Probably using gmapping, otherwise using odometry and xsens combinated with the information from the cameras |
| Free style: | Detect a parking place and park the robot with trailer backwards in that spot. |
Robot – Investment
| Work hours: | 260 hours per person, thus 1040 totally |
| Components: | 3 cameras, motherboard and processor, Arduino Uno, potentiometer |
| Other: | |
| Sponsored by: | Claas Stiftung, Wageningen University, Agrifac, Probotiq, Dacom |
Problems / Challenges
| Previously the robot was controlled using LabView. It was a challenge to rewrite the whole software into ROS without any prior knowledge in ROS. |
Other
