Low cost semi-autonomous sentry robot

This paper describes the planning, design, and implementation of a low cost, semi-autonomous sentry robot (Turret). The robot has an automatic nerf gun mounted on the top of an all-terrain mobile platform. The sensors used for target tracking are low cost infrared proximity sensors. The robot can be set into an autonomous sentry mode, in which it can track targets and fire at them automatically, or a controlled mode, for driving the turret to a new location. This design uses much more cost effective and readily available hardware and materials, and also provides an improved tracking mechanism.