This is the public repository for the MTSU SME AVC team's robot for competition in the 2019 National Robotics Championship (NRC) Autonomous Vehicle Challenge (AVC). The goal of the Autonomous Vehicle Challenge is to autonomously navigate a provided course as quickly as possible, while avoiding certain obstacles and traversing others for bonus points. Competition rules constrain robot size and prohibit any outside communication with the robot with the exception of GPS signals.
Corey: Team Captain, Navigation and Hardware Integration
Nathanael: Simulation
Nicole: PCB Design and Creation
Dustin: Electrical and Mechanical Design
Piro: MIA
The robot uses a combination of microprocessors and sensors for autonomous navigation, listed below.
Chassis: Tamiya "The Hornet" RC Car
Steering Servo: Futaba S0003
Microprocessors: Arduino Nano and Raspberry Pi 3 Model B
GPS: Adafruit Ultimate GPS with Active Antenna
IMU: MPU-9250
LiDAR:
Proximity Sensors: HC-SR04 Ultrasonic Sensor
The robot's navigation software is built using the ROS framework and coded primarily in C++. It is comprised of a number of ROS packages which, together, enable autonomous navigation by leaning heavily on a number of packages included in ROS, namely the navigation stack. In addition, a number of third party packages and libraries including nmea_navsat_driver and RTIMULib2 were used for hardware integration. We'd like to extend a big thank you to everyone involved in creating and maintaining the software and code that made this project possible. More information can be found by following the links below.
Robot Operating System (ROS): http://www.ros.org/
ROS Navigation Stack: http://wiki.ros.org/navigation
nmea_navsat_driver: http://wiki.ros.org/nmea_navsat_driver
RTIMULib2 (MPU-9255 fork): https://github.com/Nick-Currawong/RTIMULib2
Note: C++ 11 is required to compile this repository.