e-Yantra Robotics Competition

e-Yantra+ Caretaker Robot Theme

Team ID: eYRC+#925
Team Leader: Suvrat Shanker Chaturvedi
Team Members: 1) Suvrat Shanker Chaturvedi Electronics and Communication 2ND year
2) Ved Vasu Sharma Electronics and Communication 2ND year
3) Arun Soni Electronics and Communication 2ND year
4) Tushali Agarwal Electronics and Communication 2ND year
Position In the competition: participated in finals at IIT Bombay and ranked 4th in the theme out
of 55 qualifying teams.
About the Competition:
e-Yantra robotics competition is organized by IIT Bombay and supported by MHRD
Government of India. Main aim of the event is not competition but is to provide students
practical skill set which they acquire on their own by following the instructions of e-Yantra
team after months of hardwork. This year 495 teams were seleted to participate in the
competition. In eYRC+ Caretaker robot Theme 55 teams were selected for the second round out
of which 6 qualified for the finals at IIT Bombay.
About the eYRC+ Caretaker robot Theme:

e-Yantra Robotics Competition Plus has

designed a theme to bring our awareness to the
issue of catering to the needs of patients, for
example, automating the task of serving them,
even in the absence of human supervision.
In this theme, the arena is an abstraction of
a floor in a hospital, which includes a
Corridor, a Patient zone and a Service zone.
The robot is informed of the patients requests
via a computer that processes the images from
a camera and it autonomously seeks the
provisions to be picked up and delivered to the
corresponding patients.

Hardware and Software Specification:

4.1 Use of Firebird V robot:
- Firebird V robot based on Atmega2560 microcontroller is used for giving the solution for the
theme.
- The robot should be completely autonomous.
4.2 Components:
- 2 Zigbee modules for wireless communication and 3 RGB LEDs.
- Laptop/computer capable of running OpenCV and Python.
- iBall Robocam, web camera for capturing frames for image processing.
4.3 Software Specification:
- ATMEL STUDIO 6, a free software for programming AVR microcontroller or any other open
source Integrated Development Environment (IDE) for programming AVR microcontroller.
- OpenCV and Python to write their code.

Solution provided by us for the theme:

Our solution for the theme is based on single frame of reference that is we are taking a
single image at the starting of the task rather that that multiple images at different time
frames.
That image is processed by us to get a cropped arena clear with provision required and
provisions position. The bot position and orientation is also calculated using a python code.
The position coordinated of the demanded markers and provision markers is calculated
using the python code through Object detection technique.
Now we have Dijkstras Algorithm to calculate the shortest path in between the pair of
markers, bot and marker in the arena which in divided in grids with coordinates separated
by 40 pixels.
Now motion of the bot is invoked through the wireless communication as per the shortest
path calculated by Dijkstras algorithm.
Bot moves as per the specification specified in the embedded code.
Once the task is complete the python code stops and robot sounds a continuous buzzer
for 5 sec.

SCORECARD: