The objective was to create a robot that can recognize, track, and follow a specified color object as well as have the ability to avoid obstacles in its way.
The Nexus S device connects to the IOIO board via Bluetooth, and uses the smartphone's camera in conjunction with OpenCV and the external IR sensors to control the vehicle.
The robot consists of the following components:
An android Nexus S smartphone
An IOIO-OTG board
An Arduino proto shield
An 1/18 RC Mastadon truck with brushless motor
An USB Micro Bluetooth Adapter
A 25C 2S 1500mAh 7.4V LiPO
Four(4) IR sensors
A Lynx B - Pan and Tilt Kit (with 2 Hitec 422 servos)
A Xbee shield for Arduino with an RN42-XV Bluetooth Module to communicate with laptop (optional). Mostly used to tune up the ESC PWMs and the pan/tilt PID.
Total purchase cost was just under $400 and that includes the phone; which was purchased used on eBay.
More information and details here: