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View Full Version : [posted] Autonomously navigating rover



jwatte
08-14-2017, 02:38 AM
This rover is built for outdoors environments, with individual motor drive, encoder reading, and independent suspension for each of six wheels, and individual steering on each of the four corner wheels.
I also took it racing at the Oakland self-driving RC car meet-up this month, and ended up placing 2 out of 20!
The vision on the bot is done through a Raspberry Pi and camera, whereas all of the real-time control (anything from power management to talking to motor controllers and serial bus servos) is done through a Teensy 3.2.

The code can be found here: https://github.com/jwatte/moneypit_v_for_victory

Some pictures:

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Some videos:

A training pass (I ended up turning up the speed a little more to max for competition):

https://goo.gl/photos/RhqGvbB65R5Q72LG6

Climbing stairs:

https://goo.gl/photos/4tsqXu9PF2rLyNud9

Robin
08-15-2017, 04:01 PM
This project is featured on our blog today. :)
https://www.pjrc.com/autonomously-navigating-rover/

jwatte
08-15-2017, 04:04 PM
Cool! Hope it helps some more potential teensy roboticists!

jessejay356
08-18-2017, 04:25 AM
nice work Jon! I'll post my rover info soon. ;)

kathrynhall
11-07-2017, 08:07 AM
This project is really cool! Great job, pal! Have you some tips for this thing (https://oddsdigger.com/tips/non-sport)?

jwatte
11-07-2017, 04:06 PM
My #1 tip is: If you want "a working rover" rather than "a fun project that takes years," start with a mechanical platform that already works!
I'd recommend something like the Wild Thumper (https://www.pololu.com/product/1554) and doing a mod to get motors with encoders and a motor controller (https://www.pololu.com/product/2273 and https://www.pololu.com/product/3286)