This robot was fully designed and implemented by us to act as a search and rescue robot satisying several objectives. Namely, the robot was required to traverse over a 1 m tall wall via a thin, steep ramp and to locate a post on the opposite side and then return to the start point.
An early version of our robot:
An early ramp climb:
The preliminary software architecture was designed using a dual-controller approach to offload more complex portions of the navigation as seen below:
In the final design this dual processor approach was scrapped as a much simpler navigation method was used, preventing the need for more processing power than the teensy would provide.