Caddy
A 2005 Roborodentia entry with vision and path planning capability
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Introduction

Problem Summary

Caddy is a robot that was entered into the 2005 Roborodentia competition. Roborodentia is an annual autonomous robotics competition held during Cal Poly's Open House by the Cal Poly Chapter of the IEEE Computer Society. Robot entries must navigate a maze searching for three randomly placed golf balls, collect them, and then deposit the balls in the “nest” at the end of the maze. A newly added aspect for the 2005 competition included two bonus balls that were placed on a platform behind the wall in two predetermined corners of the maze. These platforms raised the bonus balls such that the top of the golf ball was flush with the top of the wall.

arena.png
Arena map showing the two fixed bonus ball locations and the potential locations of the randomly placed ground balls

The competition scoring breakdown is as follows:

Point Value Task
1 Passing the first turn in the maze - Point A
1 Triggering “nest” solenoid by activating optical sensor - Point X
3 Touching each ground ball (1 point per ball)
3 Collecting and possessing each ground ball (1 point per ball)
3 Bringing each ground ball to the “nest” - Area B (1 point per ball)
9 Placing each ground ball in the “nest” - Point E (3 points per ball)
10 Collecting and possessing a bonus ball - 2 Yellow Balls (5 points per ball)
6 Placing a bonus ball in the “nest” (3 points per ball)
36 Total possible points

In the case of a tie, the robot with the fastest time wins.

The following sections document the Cal Poly Robotics Club entry "Caddy" for the 2005 Roborodentia competition:

The content of this site is also available as a single pdf report.