XR-B3
| Processor |
ATMEGA324 on AVRRA PRO Board
w/ XBEE Wireless |
| Sensors |
2 GP2D12, 1GP2Y0A02YK,
2 Lynxmotion SLD-01 (Encoders),
1 SRF-05 Sonar,
1 AVRCam |
| Actuators |
2 DC Motors with 3.5" Wheels,
2 servos for head. |
| Power Source |
9.6V 1600mAh Battery |
| Frame |
1/4" PVC |
Xr-B3 is designed to be a general purpose robot, and
is also one of my most sophisticated.
He incorporates a 2-axis head, which carries an AVRcam, sonar sensor, and IR ranger. He has
2 side facing IRs. Differential drive with closed loop control and 3.5" tires give him the ability
to navigate through most indoor environments with good precision.
The main controller board is one that I designed. It uses an
ATMEGA324P processor, which was chosen for its 32KB of flash ROM and dual serial ports. One serial port
is dedicated to the AVRcam, while the second is used for communications with a desktop computer,
either over the built-in XBEE wireless connection or
via a hardwired USB port. Eventually the USB port will also allow an on-board bootloader to reprogram the
robot without an ISP programmer.
This robot is designed to be a long term test robot for my experimentation in simultaneous
localization and mapping (SLAM) and Vision. I also intend
to use this platform for developing lightweight algoritms for better navigation.
The wireless connection also allows B3 to communicate with other robots in my local network. Early experiments
in triangulation using radio signal strength are also showing some promise in small environments.
I currently have the motion code completed as well as most of the sensor drivers. As this robot is still
very much under construction look back to see more.
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