Mechanical Ants - autonomous delivery robots
STAGE 4 - March 2021 design update
Added LCD for status indication
Moved D435 from the mast to front of the robot, to enable "stacked boxes" configuration
Added emergency stop button
AR tag follower
Smoother motor control with PWM mode
STAGE 3 - April 2020 design update
Added 10 Hz GPS receiver for outdoor coarse localization
Added manual teleoperation using PS4 joystick via Bluetooth LE
Added Intel Realsense D435 camera on a mast, to compute driveable surface
Switched WiFi to AP mode for outdoor connectivity
Powered Jetson Nano from the hoverboard battery pack using 5V 4A DC-DC converter
Added fan for Jetson Nano - required to run heavy GPU loads
Added reset and power buttons for Nano
CNN-based image semantic segmentation to compute driveable surface
STAGE 2 - July 2019 till September 2019: Robaka 2
Working on a bigger and more capable mobile platform, ready for some real payload. Here's the Medium article.
STAGE 1 - May 2019 till July 2019: introduction to mobile robotics.
Working on a robocar platform based on NVIDIA Jetson Nano + Arduino, equipped with LIDAR, ultrasonic sensors, IMU, odometry sensors and camera. It's my ROS and SLAM testbed for indoor autonomy. Here's the Medium article about building the first prototype.