Mechanical Ants - autonomous delivery robots
Embedded Files
Robaka v1
Robaka v2
STAGE 4 - March 2021 design update
Hardware:
Added LCD for status indication
Moved D435 from the mast to front of the robot, to enable "stacked boxes" configuration
Added emergency stop button
Software:
AR tag follower
Smoother motor control with PWM mode
2021-03-10
STAGE 3 - April 2020 design update
Hardware:
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
Software:
CNN-based image semantic segmentation to compute driveable surface
2020-05-01
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.
2019-09-19
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.
2019-07-22
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