Tank Drive Robot

This is a tank drive system robot. It runs on a single board computer(Nvidia jetson nano interchangeably raspberry pi as well), and has various sensors to aid its naviagtion. It can also be driven remotley using a wireless joystick on the client nodes.

It runs RTABmap Slam (Vision based slam) for mapping navigtion within environments. Sensors such as the kinect camera, imu sensors aid in locatization whithin the map.

Robot components

Snow
Forest

The main board interfaces the 3d sensor(kinect 360) via usb with a modified power bridge(switching regulator to power kinect).

The mcu board however interfaces more sensors, a 9dof imu via i2c, 2 pwm motor drives and communicates with the main board using ros serial .

teleoperation control

Above shows teleoperation of the robot

Although the drive system is tank(chain), it can be controlled like a regular differential drive system, as shown above