DART - the Device for Autonomous Removal of Trash

This robot was designed by a team of 4 UTSA senior engineering students led by myself. I also handled the electrical design and software design.

Software Operation

This details the steps involved in DART’s operation

Trash collection and performance

Illustrates the capabilities of DART

Path following and obstacle avoidance

Solidworks Model

Top-level electrical design

Path planning module output

This module generates a cubic spline path for the device to follow, inside of the user’s specified area.

DART: the Device for Autonomous Removal of Trash

This device is my team's senior Project at UTSA. My responsibilities in this team were:

Project manager - responsible for setting meetings, tracking progress on Gantt Chart, delegating tasks per ability, and ensuring the project was completed on time and budget.

Electrical Design - designed and fabricated the full electrical system for DART

Software Design - wrote all software for DART

Overall, the project was a success. Despite some problems with jammed trash objects, and positioning that could be off by a couple meters, the device performed as well as could be expected for a first prototype of this design.