Asbury Robotics
Richard
the Rolling Rover


Created by Mike Asbury

Project goal: To create a RoboMagellan type autonomous robot capable of traversing outdoor terrain (grass, dirt, streets, curbs, sidewalks, etc) using GPS waypoints, dead reckoning, and obstacle detection and avoidance (ultrasonic, laser, ir, etc) to reach intermediate and a final destination points.

Other Links:
Build Log
Pictures (coming soon)
Videos (coming soon)
Overview

Inspiration: While going through some old issues of Servo and Robot Magazines, I found a couple intriguing articles about converting RC cars to mobile robot platforms (especially the "Mobility To The Maxx" series starting April '06 in Servo).  When I started doing some research on the web about the Servo project, I stumbled across The Journy Robot by David P Anderson and Mike Hamilton.  At that point, all my old ideas vanished, and I knew that I needed to makea Journy Robot type platform.  I stole as much of the mechanical design as I could from the Journy Robot project, and began my version which I am calling "Richard the Rolling Rover" or "Richard" for short.

Challenges:
Procedure

1) Research and identify as many of the parts and systems that will be needed.
* Lot's of google searching.
* Evaluation of magazine articles (Servo and Robot) and robotics books for ideas.
2) Buy as much of the hardware as possible.
* Since most of it is online, it will take time to be shipped.
3) Build the chassis and drive system.
* Measuring, cutting, drilling, and hoping it will all fit together and work.
* Verify with simple controls (possibly a remote control).
4) Setup and integrate the on board computer.
* Operating System (OS) identification and installation.
* Create simple programs for motor control (possibly through wifi and/or bluetooth, or just using small movement commands).
* Connect and write software for bluetooth communication.
5) Integrate GPS.
* Understand and decode GPS data.
* Create straight-line (zero obstacle avoidance) movement using GPS.
6) Integrate distance sensors (sonar, IR, and/or laser)
* Figure out what sensors are needed and their placement on Richard.
* Write software to communicate with sensors.
* Modify robot pathing algorithms to adjust for sensor data.
* Create multiple real world tests to evaluate (and adjust) pathing algorithms.
7) Integrate video (for object identification (i.e. locate an orange cone).
* Identify camera to use. (either usb cam or CMU-II module)
* Write object identification software.(if needed.  Camera may have some or might try vision library)
* Create application to search out and touch orange construction cones.
8) Full RoboMagellan tests
* Create multiple RoboMagellan type courses and evaluate Richard's performance.
* Update software as issues arise.
9) Future expansion
* (I am a little overwhelmed right now to put anything here.  Will be updated in the future)

Parts List

*Note: I hate when I find other projects on the web, and they have little to no information about what was used to make them, so here is a detailed list of all the stuff I used (or plan on using).

Chassis:
Drive Train:
Electronics:
Power:
Software:
Pictures:

Suspension parts
Tires and wheels

Bandbot motor and ESC
Old timing belt and pullies (switched to type xl)

Roboard and accessories
USB GPS device

Phidgits Advanced Servo Board
12"x12"x1/4" Nylon board

Sprocket and chain for motor
Flanged Axle bearings
Arduino nano 3.0
Optical enocder
EZ1 Ultrasonic Sensor
Sensor Bracket

Progress Update

Latest pic (although out of date with current additions)