Coordinated Mobile Robotic System
With 2 other classmates, we programmed 3 Romae to autonomously perform 2 prescribed scenes from Romeo & Juliet which require effective robot communication and control algorithm utilizing inverse kinematics.
Our system uses a variety of communication methods and sensors to accomplish this goal and implements them in a number of ways to create a system that can reenact both of the required scenes. We primarily rely on IR for communication between robots, in addition to IMU, April Tag, OpenMV Camera, ultrasonic, flame sensor, and LED to enable the robots to react to each other.
I was the main team lead while the others assisted in the electrical and OpenMV camera components. The fight scene ended up pretty well and earned compliments from the professor while the balcony scene was subpar as there were issues with wall tracking. This could've been improved by better PID control and potentially another ultrasonic on the side to keep the robot on track.
Final Rehearsal.mp4En Garde!
Here in the final practice for the fight scene, Tybalt and Mercutio engaged in a fight as Romeo watches from the sideline. Mercutio used an ultrasonic to maintain a safe distance from Tybalt while Romeo watches the April Tag on Tybalt with an OpenMV Camera. Eventually, Tybalt rushes forward and stabs Mercutio, with the collision detected by an IMU. Mercutio dramatically died while signaling to Romeo that he's dead with an IR emitter so Romeo can rush forward and stab Tybalt. End Scene.