Purpose: ENGR-195 class project
- To demonstrate basic movement
- To accurately know its position
Creator: Team 33
My Role: Team Leader, programmer
Drivetrain: Two-wheel differential drive.
Controls: Lego NXT
- Front-facing ultrasonic
- Wheel encoders
Movement: The drivetrain allows the robot to move with precision and turn on a dime.
Positioning: DUCK uses motor encoders to track its current position.
Pathfinding: An internal map and an A* pathfinding algorithm allow DUCK to compute its path to any coordinates given at runtime.
Obstacle avoidance: DUCK stops if it detects an obstacle with the Ultrasonic sensor. If the obstacle does not move out of the way, DUCK recalculates a route around the obstacle and remembers the obstacle from then on.