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Pure Inertial Navigation Car

An open-source autonomous car using pure inertial navigation for path collection, planning, and reproduction with TC2xx main controller and dual AI8051U motor drivers.

  • Self-driving 1:10
  • No license: all rights reserved by the creator
  • 3D printable

Suggested by Robotheca, created by @AmashiroNya13 (opens in a new tab), from github.com/AmashiroNya13/pure-inertial-navigation-car (opens in a new tab). Pinned to commit d5c2b56 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (6 scripts)

Photo

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)

Commercial use is not confirmed for this robot, so no preview is stored. View the STEP files on GitHub (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Runs on a track using inertial navigation without external positioning
  • Collects path data via sensors during movement
  • Plans node-based maps from collected data
  • Uploads planned paths to the robot for replay
  • Replays uploaded paths using pure inertial navigation
  • Visualizes collected and replayed data in a web-based tool

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Prepare mechanical components and CAD files
  2. 2Assemble the chassis and mechanical structure
  3. 3Install motors and negative pressure system
  4. 4Set up hardware (PCB, BOM, wiring)
  5. 5Flash firmware to TC2xx main controller and AI8051U motor drivers
  6. 6Install and configure PathCapture upper computer tool
  7. 7Use node coordinate planner for path planning
  8. 8Test and calibrate inertial navigation system

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Infineon TC2xx microcontroller on main control board
  • Two IMUs for inertial navigation
  • AI8051U brushless motor controllers for drive motors
  • AI8051U brushless motor controller for suction motor
  • Encoders for wheel speed and position feedback
  • Power supply and voltage regulators for all modules

Connections

  • Main controller connects to two IMUs via I2C or SPI
  • Drive motor controllers receive PWM signals from main controller
  • Suction motor controller receives PWM signal from main controller
  • Encoders wired to main controller for feedback
  • Power lines from battery to controllers and main board