Brought our subsystems to life with autonomous functionality

Award-Winning 2020 Autonomous System

Autonomous Award by Ford 2021

Limelight Camera for vision processing

PIDF + Vision for movement control

Used green light to bounce off reflective tape for active positioning

Github Repo

Pose Estimation

• Vision calculates absolute location of robot on field
  • Noisy but accurate
• Encoders calculate relative changes in position
  • Better for short-term changes but bad for long-term pose calculation
• Sensor fusion w/ Kalman Filter
• Benefits:
  • More accurate
  • Crucial for high-performance turret tracking
  • More reliable robot movement and surrounding awareness

Autonomous Driving

• Custom developed path follower:
  • Follows spline paths
  • Controlled using a dynamic motion profile generator
    • Runs in realtime
    • Looks ahead into the future to ensure safe accelerations at all times
• Everything runs in real-time (no pregeneration)
  • “Streaming”
  • Real-time adjustments for tracking errors
  • Point A->B driving

Award-Winning 2020 Autonomous System

Calgames Autonomous Award 2019