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Thread: [posted] Autonomously navigating rover

  1. #1
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    [posted] Autonomously navigating rover

    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

  2. #2
    Administrator Robin's Avatar
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    This project is featured on our blog today.
    https://www.pjrc.com/autonomously-navigating-rover/

  3. #3
    Senior Member
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    Cool! Hope it helps some more potential teensy roboticists!

  4. #4
    Junior Member
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    Dec 2013
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    nice work Jon! I'll post my rover info soon.

  5. #5
    Junior Member
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    Nov 2017
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    This project is really cool! Great job, pal! Have you some tips for this thing?

  6. #6
    Senior Member
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    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)

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