autonomous mobil robot

This is an overview page on my amr robotic project:

The idea is to develop an robot just from the scratch…

Current status of development 21.05.2023:

  • mechanical design:          done
  • electrical installation:      work in process
  • Code (ROS 2 Humble):   open

BOM:

  • 127 mm aluminium mecanum wheels
  • Motor:   CHP-36GP-555-ABHL with encoder
      • 12V,  Ratio 1:51, 90 rpm, 2 Nm
  • Battery:                 140 Wh, 4p2s IRN  21700-50 E Samsung
  • Motor controller:  ESP 32
  • Motor driver:         BTS7960
  • Depth camera:      Luxonis DepthAI OAK-D Lite
  • Lidar:                      RPLIDAR A1M8
  • SBC:                       Orange Pi5 16GB with 256 SSD
  • Weight:                  ca. 12 Kg