This is the my new autonomous mobile robot version 2. This AMR got few updates compared to version 1. If you havent watched my previous video on Autonomous Mobile robot, click on the i button to watch it now.
The Major update is the motors. These are BLDC HUB motors with hall encoders. This BLDC motrors are controlled using odrive controller.
The odometry is very accurate with the bldc motors and odrive controllers which inturn making the localization of the robot to be precise.
The brain of the robot is same as in version 1. It is Jestson Nano, 4GB variant. All USB ports are occupied with lidars Odrive controller and arduino.
Adrunio uses ros-serial to communicate with ros. It controls the led strip that changes color based on the state of the robot.
I have also added button interfaces to stop and start the robot while moving towards a goal or to wait at a way point.
Power source of the robot is a 24V-10AH li-ion battery.
Now coming to the lidars, usually in bigger robots it becomes challenging to get a full 360 degree view using a single Lidar.So I have used 2 Lidars, one in front and one at the back to get the full 360 degree View around the robot.
My projects: github.com/bandasaikrishna/
ros_odrive: github.com/johnkok/ros_odrive
My website: www.rosroboticslearning.com/