Competition Car Model Robotraffic

Every year the Faculty of Mechanical Engineering of the Israel Institute of Technology Technion holds the international Robotraffic competition. These competitions provide participants with hands-on experience in solving high-tech problems through the application of research that they previously might have viewed as abstract.
In 2021, more than 500 high school students and schoolchildren from 12 countries of the world took part in these competitions. According to the rules of "Robotraffic", the vehicle participating in the competition is a model of a wheeled vehicle driven by an electric motor, with steering control, controlled by a microcontroller in an autonomous mode (homemade or upgraded finished product). Vehicle dimensions: length no more than 470 mm, width no more than 225 mm, base no less than 160 mm, track no less than 145 mm. Prerequisite: vehicle model - wheeled, must have steering in the way of turning the steered wheels, the presence of a differential in the transmission. When creating a vehicle, the team can focus on the proposed components, as well as use any home-made or ready-made assemblies and parts in the vehicle design. According to the assignment, the robot must move strictly along a line 5 cm wide, recognize traffic signals and traffic signs, have a light indication that must duplicate traffic signals, indicate turns and stop signals, find intersections, stop at the stop line and avoid collisions with obstacles on your way.

The TS model won a prize at the 2021 competition, I propose to consider it in more detail.

Traffic lights:

LED red 1

LED yellow 1

LED green 1

Infrared LED 1

Resistor 220 Ohm 4

Battery 5 to 12 volts

Daddy-daddy wires

Arduino Uno

Bread board

Masking tape

Double-sided tape

Stand

Automobile model

Automobile model
1:10 scale RC car model https://rc-today.ru/product/radioupravlyaemaya-ma...

Arduino Mega

Line sensor https://clck.ru/XKjRD

IR Receiver TSOP2238 https://clck.ru/XKjRD

LED red 3

LED yellow 5

LED green 1

Resistor 220 Ohm 10

Motor driver 30A https://clck.ru/XKjRD

Multiservo Shield v2 https://clck.ru/XKjRD

Paper clips
Double-sided tape

Nylon stands https://amperka.ru/product/nylon-standoff-fm-m3x8...

Nylon screws https://amperka.ru/product/nylon-screw-m3x8

Prepare all the necessary components.

Install the LEDs on the breadboard and attach it to the stand with masking tape.

Using double-sided tape, we attach the battery and the Arduino Uno to the stand. We connect the wires according to the diagram, and load the program.

Download the library for infrared LED operation here. https://iarduino.ru/file/257.htm

Program:

Prepare the necessary components for assembly

For the car, we chose a model of a radio-controlled car of 1:10 scale. We removed everything unnecessary from it, leaving the battery, servomotor and motor.

To place the equipment on a car model, I used 3-ply plywood, pre-drilling the mounting holes.

To install line sensors on a car model, I printed a holder on a 3D printer. You can download the drawing here https://www.tinkercad.com/things/eEMq3reB3b5

Installed sensors in the front of the car model. The sensors are secured with nylon screws and the stand is secured with metal screws.

We installed the necessary equipment on a platform on nylon racks attached to the base. The platform is attached to the car model with paper clips. I connected all the wires.

Before loading the main program, it is necessary to check the operation of all connected elements. For this, test programs were created.

Before loading the main program, it is necessary to check the operation of all connected elements. For this, test programs were created. They are required to check the robotic function and adjust each element.

Note:

• Testing the servo showed that my servo could run between 38 and 92 degrees. Library for working with Multiservo Shield https://github.com/amperka/Multiservo
• Checking the line sensors is necessary to adjust them using the built-in potentiometer. 0 means the sensor is on white, 1 on black.
• Checking the operation of the IR receiver is carried out in conjunction with a working traffic light.
• After all the checks and settings, load the main program.

Depending on the readings of the line sensors, we turn the steering wheel by a certain angle. The data of the dependence of the angle of rotation and the readings of the sensors are presented in the table.

The car moves clearly along the line, observing the rules of the road and responding to traffic signals.