1. Ankit, Final Year EE
Dev Chandan, Final Year ME
Hitesh,Senior Year EE

6. Light Weight
Compact
Modular
Power Miser

7. Drive Train
• 4 Independent Drivetrains
• Dynamixel RX 64
• Modular
Body Design
• Item® Profiles
• Adjustable Mounts
• IP 66 Containers Housing

8.  Power consumption reduced to 39%
 Total Power Requirement of 90.59W.
 Optimized at speed of 0.5 m/s

9.  Easily replaceable batteries
 Li-Po batteries: 25.9V 10 Ah & 14.8V, 7Ah
 Weight budget of 2.5kgs.
 Total Run time
• 2h 38 minutes at 25.9V and 6h 14 minutes at 14.8V.
 The battery voltages are stepped down to 18V, 12V and
5V respectively by Anyvolt 3 DC-DC converters and 25W
Step down adjustable switching regulators.

11.  Wireless & Hardware Emergency Stop
 Wireless control
 Drivetrain Control System
 Global Motor Control, Local Motor Control.
Output Power
to the motor
25.9V to 18V
DC-DC
converter
RS485 Breakout board for
RX64 Communication
Encoder
Input
Arduino Mini
Microcontroller
I2C
Connection to
Global Motor
Control
18V to 5V
Converter

12. Robot Operating System
3 Main Parts:
• Obstacle Detection
• Image Processing
• Odometry/GPS (Pose Estimation)

14. Open Source
Stable & Robust
Integrated:
• OpenCV
• Player/Stage, Gazebo
Supports both C++ and Python

15. Capture
Image
• Image Captured using Firewire
Camera
Process
• Correct Perspective and Distortion
• Hough Transform
Obtain
Lines
• Scale information
• Convert into LIDAR Scan

17. Obtain
Scan
• Obtain LIDAR Scan
• Map to 400x400 grid
Associate
costs
• Attach costs
• Inflate costs
Obtain
Path
• Global Path
• Local Path

18. Inflated Costs
Local Path
Global Path

19. Dynamic sorting of waypoints
Choose shortest waypoint
Convert to UTM:
• Provide goal to robot
When done, remove goal and resort

20. Point Clouds using PCL Library
Detect ramps etc.
Objects otherwise considered obstacles

21. Extended Kalman Filter
Takes data from:
• Odometry
• GPS
• IMU
Accurate Pose/Position Estimation

22. Pioneer 3DX model in Gazebo

23. Start
Receive Encoder Inputs (Interrupt)
Increment encoder count
Pid(loop) every
55 ms
Calculate Speed
PID Input
Output speed
to motors
Refresh
encoder
values
Input Value = Individual
Speed from GMC*
Speed Ramp (Divide the
value into 10 intervals)
PID Setpoint
Read Encoder counter

25. MECHANICAL DATASHEET
Length 1.10 m
Width 0.64 m
Height 1.49 m
Weight(without payload) 23 kg
Ground Clearance 0.05m
Payload Capacity 20 kg
Wheel Diameter 8 inches
Maximum Speed(80% Efficiency) 1.85 m/s
Operational Speed 5 m/s