Project files

Low-Cost Outdoor Mobile Robot Platform

Precautions

本プロジェクトのロボットに古いファームウェアであるM1502D_211のモーターを使用すると、速度フィードバックモードを有効にすると制御が発散するのか激しく振動する現象が確認されています。現在はオープンループモードを用いてArduino内でPID制御を入れることによって改善を図ってるので、ロボットに合わせて適宜パラメータチューニングが必要です。

Overview

This repository was set up to make an inexpensive outdoor mobile robot platform that individuals can easily take part in with Tsukuba Challenge and Nakanoshima Challenge. I tried to design it to be as inexpensive as possible, but the material costs still came to about 200,000 yen, so it may not be easy for individuals to get started with it. Since I created this as an experiment on my own, I will answer questions and issues as far as I can, but please use it at your own risk. I hope this repository helps with the development of outdoor mobile robots.

特徴

• Uses a wheeled motor from Direct Drive Tech

  This omits tasks such as attaching tires, which helps reduce the number of parts.

• Equipped with a battery equivalent to 24V 20Ah

  Two 12V 20Ah lead-acid batteries are connected in series. As long as the motors are not driven at full load all the time, we believe the capacity is sufficient for outdoor experiments.

• Emergency stop and brake release implemented with a custom motor controller

  The motors adopted this time had no emergency stop or brake release functions, which caused problems for workability and safety, so we implemented these functions with an Arduino that is independent of the control PC. This is not based on any particular standard, so safety and related issues remain as future work.

Repository Structure

• CAD

  Provides STEP files that are easy to use with a variety of 3D CAD tools, as well as STL files that can be used for simulation in ROS.

• schematics

  Circuit diagrams for the platform. Basically, you only need to connect the motors to the power supply and an Arduino.

• BoM

  Notes on the bill of materials required to build the robot and the costs incurred. For reference only.

• tools

  Contains tools for making use of the robots in this repository, such as a utility for changing motor IDs and Arduino projects for the controller.

References

• ROS package

  reasonable_outdoor_mobile_robot_ros_controller (opens in a new tab)

• ROS2 package

  reasonable_outdoor_mobile_robot_ros2_controller (opens in a new tab)