Antice

Antice bot end result
Navigation simulation
MATLAB bot control
Antice Bot

Inspiration

Due to the recent snowstorms over the past week, many pathways were covered in snow, ice, or slush, making walking on campus dangerous for students. Campus staff worked to maintain the pathways as best as possible, but competing with Mother Nature's unpredictability became challenging. Despite their best efforts, the severe weather conditions persisted, and as a result, Antice was born. The autonomous robot that can keep up with winter elements and work all day.

What it does

Antice does it all, from salting pathways to plowing snow. Give it a territory, and it will work tirelessly day or night to safeguard it from the harsh winter elements. It is adaptable and can be utilized in large campus neighborhoods or personal driveways. For example, say you find out you will get snow overnight. You can schedule your Antice bot to roam and ensure the driveway is appropriately salted and snow cleared.

How we built it

With limited resources and to show that Antice can work, we separated the product into a software and hardware section. That way, both parts can further emphasize that our idea is, in fact, producible with more resources. Once combined, we have the resulting Antice bot.

In the software section, we used F1tenth, a pre-built environment, to display the map of the MSU campus and the robot . We wanted to show that making the robot navigate independently based on lidar detection and progressive mapping is possible and how it would look. We also used MATLAB to model the vehicle dynamics and the control.

In the hardware section, we used motors, a Raspberry Pi, a driver board, battery packs, Red Bull cans, cardboard, bolts, glue, and tape. We created a makeshift version of Antice with precise measurements and careful crafting to further demonstrate and display its working process.

Challenges we ran into

We faced some tough challenges while working on our project. First, getting the right parts for the salt dispensers and wheels was tricky. In the middle of it all, we also had a hard time finding the right materials for the frame and them together. On top of that, many of the Raspberry Pis didn't work properly, the SSH cards were messed up, and the motors didn't have a steady speed even with the same settings. Another issue was the amount of power from the battery packs to the Raspberry Pie, where there wasn't enough current to power it fully. We had to do a lot of problem-solving and find alternative solutions to make sure our robot worked well despite these issues.

Accomplishments that we're proud of

We are proud of Antice's span in multiple fields, showcasing our diverse strengths and collaborative spirit. The project's success is a testament to our team's exceptional teamwork. Each member contributed their unique expertise, whether in technical areas like programming and hardware, or in business and marketing, leading to a well-rounded concept prototype. Designing a logo, name, and slogan for our product and getting the Raspberry Pi to work and the motors to run at a similar speed despite physical limitations were achievements. Lastly, we were happy that we could create the bot with salvaged materials and incorporate all the different components in such a short amount of time.

What we learned

In developing Antice, our team gained substantial technical expertise. We mastered the use of GPIO pins for controlling hardware components, including battery integration, essential for our robot's functionality. Our journey included assembling the hardware meticulously, ensuring each part functioned harmoniously. We delved into Model Predictive Control (MPC) for precise movement and response management, essential for Antice's efficient navigation. Additionally, we honed our skills in CAD assemblies, crucial for designing precise robot components, and learned to manipulate PNG channels in simulation environments, enhancing our ability to accurately represent varied terrains.

What's next for Antice

Regarding the future of Antice, our goal is to essentially create the final version of Antice with a proper frame, wheels, more reliable equipment, cameras, and sensors and integrate the software navigation and mapping into it. Then, after further testing and creating a docking setup, we will pitch the idea to our MSU campus and reach out to consumers for personal use. This company will then establish insurance features, installation services, additional modifications for the Antice, and a manufacturing facility to mass produce the bots.