Architecture​
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The ultrasonic sensor is placed low in the front of the robot, facing straight forward. It is used to measure distance between the robot and what is in front of it. This is useful for collision avoidance and object size detection.
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The color sensor is used in detection and differentiation between movable and non-movable objects. A movable object is categorized by the color red and a non-movable object is any other color, which is detected by the sensor. The color sensor is placed with an angle in the front of the robot, above the ultrasonic sensor so it does not disturb its readings.
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The architecture of our robot consist of three sensors and three motors. Two motors are used to move the wheels and the third motor is used to move the arm. The three sensors are a gyroscope, a color sensor and an ultrasonic sensor. We tried to build our robot as compact as possible to enhance navigation and avoid crashing into objects.
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The gyroscope is used for navigation on the track. It measures rotation and angular velocity and is used when turning. Its value is also used in the tracking process. We have placed the gyroscope on the top of the robot as seen here.
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The arm is built in the front of the robot, above and around the ultrasonic and color sensor. Its resting position is above ground so it does not disturb the sensor. It is used to release an object it holds by lowering the arm.