Automated Load Carrying Cart

Senior Project - Ben Gurion University

Problem

Design an automated system capable of carrying loads autonomously within a defined environment, addressing the need for efficient material handling without human intervention.

Constraints

• Budget: Limited budget for senior design project materials.
• Payload: Must carry a minimum load of 15 kg.
• Environment: Must navigate obstacle-filled environments autonomously.
• Power: Battery-operated with sufficient runtime for demonstration.
• Safety: Collision avoidance and stable load transport required.

Approach & Tradeoffs

Applied mechanical engineering principles combined with automation concepts to create a functional prototype.

• Chassis Design: Selected a differential drive chassis for optimal stability vs maneuverability trade-off. This choice simplified the control system while providing adequate turning capability for indoor navigation.
• Sensor Selection: Used ultrasonic sensors and IR proximity detectors to balance cost and accuracy for obstacle detection. This combination provided reliable detection at 1/10th the cost of LIDAR alternatives.
• Control System: Implemented PID-based obstacle avoidance on an Arduino Mega for real-time responsiveness. The Arduino platform provided sufficient processing power while remaining accessible for rapid prototyping.

Key Decisions

• Differential drive over holonomic wheels: Cost constraints and simpler control requirements made differential drive the practical choice. The tradeoff in maneuverability was acceptable for the demonstration environment.
• Ultrasonic over LIDAR: Sufficient for indoor demo environment at significantly lower cost. The detection range and accuracy met project requirements.
• Center of mass optimization: Load platform positioned to maintain stability margin during transport and turning maneuvers.
• Modular design: Components designed for easy maintenance and troubleshooting during development iterations.

Outcome

Successfully designed, built, and presented a functional automated load carrying cart as a senior project. The system demonstrated:

• Autonomous navigation through obstacle courses
• Stable load transport up to 15 kg
• Real-time obstacle detection and avoidance
• Integration of mechanical design with embedded control systems

Technologies

SolidWorks, Arduino Mega, C++, Ultrasonic Sensors, IR Proximity Detectors, PID Control, 3D Printing

Media

Prototype photos and demo video coming soon