Ice Cream Truck
Ice Cream Truck is an autonomous mobile robot built from LEGO pieces and equipped with various sensors and switches. It has a 400 MHz CPU and runs on Linux where pre-compiled program can be installed via Ethernet. The vehicle searches and collects balls with a revolving arm type gripper in an area of approximately 4m x 4m and returns balls to the bin (an A3 sheet of black cardboard with lighting above) using phototaxis. IR sensors and whisker switches are used to detect the wall and perform obstacle avoidance, also there is a light sensor at the bottom of vehicle to find the bin and silver tapes.