OuimetGolf Playing Robot

- Shashank G. Sawant

Topics covered:

• Block and Circuit Diagram• Sensors :

– CMUCAM – OPT101

• The mechanical Hardware• Behaviour

Block Diagram

CMUCAM

AtmegaMicrocontroller

Board

Continuous Servo Motor

Servo Motors for CMUCAM

Servo Motorfor club

MAX232A

Continuous Servo Motor

OPT101 sensors

Atmega164p Board

Atmega164p

MAX232A

Servo Headers

ADC Headers

LM7805

LCD Port

OPT101

OPT101

CMUCAM

CMUCAM Block Diagrams

CMUCAM Serial Communication

CMUCAM Serial Communication (TTL)

The Mechanical Hardware

• The CMUCAM is mounted on a platform connected to 1 servo. Thus it has a single degree of freedom.

• For its locomotion, Ouimet relies on 2 continuous servo motors setup in a differential configuration.

• Ouimet’s Golf Club is connected to its chassis by means of a micro-servo motor.

The Mechanical Hardware

Continuous servos Golf Club

Idle WheelMicro-servo

Algorithm

• Search for a white ball by executing random turns and straight line motion, with the camera pointed downwards.

• Once a white ball is detected align it in the center of the frame.

• Raise the camera to 0o elevation and rotate till the flag(marking the hole) is located while measuring the angle of rotation.

Algorithm

• Once the flag has been and the relative angle between the ball’s location and the hole has been measured calculate the next steps of motion.

ɸd

d1

Algorithm

• Align with the ball and the hole in a straight line and then putt the ball into the hole.

Ouimet

Algorithm

• If the ball is visible repeat the process. Otherwise the objective has been accomplished!

Ouimet

Behavior Flowchart

Start

Search for a white ball by moving

randomly

Ball detected ?Center the ball in the

image

Rotate and locate the

flag

Calculate the position of alignment, move

to the same and putt the ball into the hole

Is the ballVisible?

End

YES

NO

NO

YES

Thank You