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 remotely using a wireless joystick on the client nodes.
It runs RTABmap Slam (Vision based slam) for mapping navigtion within environments. Sensors such as intel d435i rgbd camera helps with localization whithin the map.
The main board interfaces the intel cameras via usb.
A secondary board (arduino due), comes equiped with ample memory to run embedded ros version ( ros nodes). It interfaces the main ros server on the SBC via rosserial over a usb-uart converter.
Above images show the robots view from the camera as well as the pointclouds of a indoor passage, showing the depth from the projection view.
.
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