This project is the development of an Autonomous Mobile Robot (AMR) prototype, serving as a foundational step toward mastering the systems engineering required for humanoid robotics.
Project Mentor: Prof. Sreedhar Madichetty
Student Mentor: R V S Srikasyap Sagar
This project focuses on designing a mobile robot from the ground up, capable of carrying a maximum payload of 20kg from point A to point B autonomously. The objective is to move beyond theoretical study and gain real-world experience with ROS2, microcontrollers, and microprocessors.
- Actuation: 12V Planetary Gear DC Motors (x4) with encoders (72.5 N-cm, 185RPM).
- Motor Control: BTS7960 Motor Drivers (x2) and Arduino MEGA2560.
- Processing: Raspberry Pi 4 Model B.
- Sensing: SLAMTEC RPLIDAR A1M8 (360° Laser Range Finder) and HC-SR04 Ultrasonic Sensors.
- Weight Sensing: Load Cells (x4, 50kg) with HX711 24-Bit Amplifiers.
- Power: 3S Lithium Polymer (LiPo) Battery (11.1V, 2200mAh) with LM2596S DC-DC Buck Converter.
- Operating Systems: Ubuntu 22.04 LTS and Windows 11.
- Middleware: ROS2 Humble with Nav2 Stack and SLAM Toolbox.
- Firmware: Arduino IDE and Micro-ROS.
- Design Tools: Autodesk Inventor, Cirkit designer IDE, and Tinkercad.
- Simulation: Gazebo and RViz2.
- Comprehensive circuit and mechanical design.
- Chassis fabrication, assembly, and wiring.
- Initial system integration and low-level programming.
- Spatial frame architecture and kinematic modeling.
- Dynamic state broadcasting and parametric model optimization.
- Physics engine integration for simulation accuracy.
- Microcomputer (Raspberry Pi) environment provisioning.
- Serial UART bridge implementation and kinematic odometry publishing.
- Velocity command subscription and closed-loop teleoperation validation.
- Probabilistic SLAM and Map Generation.
- Custom environment simulation and fine-tuning.
- Autonomous path planning validation and hardware Nav2 integration.
- /src: ROS2 packages and Python nodes for robot logic.
- /hardware_cad: Autodesk Inventor (.ipt, .iam) models and circuit schematics.
- .gitignore: Configured to exclude build, install, and log artifacts.
My primary motivation is to utilize hands-on learning to understand robotics from the ground up. By building this robot from scratch-designing hardware, wiring electronics, and writing code - I am mastering the foundational gears of autonomous systems.
Special thanks to the following individuals for their technical guidance:
- Prof.Sreedhar Madichetty: For project oversight and academic mentorship.
- R V S Srikasyap Sagar: For coordinating mechatronics and software integration.
- Arvind Prabhu: For providing expert mentorship in Autodesk Inventor and mechanical architecture optimization.