MARWIN

An Open Source Rapid Deployable DIY MARS Rover

Abstract

MARWIN is intended to be one of the first opensource DIY space rover projects which could be developed very easily. The rover is designed to be highly customizable with a modular design approach. MARWIN could open up the future for rapidly deployable rover solutions for exploration of other planets.

MARWIN intends to reduce the manufacturing cost and development time of rovers by implementing a quick and standardized design approach which could be customized very easily.

Implementation Plan

• Rocker-Bogie system with RC.
• Scientific equipments ( sensor clusters).
• Power management system.
• Autonomous navigation.
• Video streaming and analysis.
• Testing and analysis.
• Modification and finalizing the design.

ESP32

Specs

CPU: Xtensa dual-core (or single-core) 32-bit LX6 microprocessor, operating at 160 or 240 MHz and performing at up to 600 DMIPS

Memory: 520 KiB SRAM

Wireless connectivity:

Wi-Fi: 802.11 b/g/n

Bluetooth: v4.2 BR/EDR and BLE

Peripheral interfaces:

12-bit SAR ADC up to 18 channels

2 × 8-bit DACs

10 × touch sensors (capacitive sensing GPIOs)

Temperature sensor

4 × SPI

2 × I²S interfaces

2 × I²C interfaces

3 × UART

SD/SDIO/CE-ATA/MMC/eMMC host controller

SDIO/SPI slave controller

Ethernet MAC interface with dedicated DMA and IEEE 1588 Precision Time Protocol support

CAN bus 2.0

Infrared remote controller (TX/RX, up to 8 channels)

Motor PWM

LED PWM (up to 16 channels)

Hall effect sensor

Ultra low power analog pre-amplifier

ESP32 :

Raspbery Pi 3 B/B+

Specs

Processor: Broadcom BCM2837B0, quad-core A53 (ARMv8) 64-bit SoC @1.4GHz

Memory: 1GB LPDDR2 SDRAM

Connectivity: 2.4GHz and 5GHz IEEE 802.11 b/g/n/ac wireless LAN, Bluetooth 4.2, BLE. Gigabit Ethernet over USB 2.0 (maximum throughput of 300Mbps).

USB: 4 x 2.0

Expandability: Extended 40-pin GPIO header

Video and sound: 1 x full-sized HDMI port, MIPI DSI display port, MIPI CSI camera port, 4 pole stereo output and composite video port.

Multimedia: H.264, MPEG-4 decode (1080p30), H.264 encode (1080p30); OpenGL ES 1.1, 2.0 graphics

SD card support: microSD format for OS and data storage

Input power: 5V/2.5A DC via microUSB connector, 5V DC via GPIO header, Power over Ethernet (PoE)-enabled (requires separate PoE add-on).

Environment: Operating temperature 0 - 50C

Raspbery Pi 3 B+ :

Rover Actions Flowchart: