Aim: To design and evalute a cooperative planning strategy for payload transportation using a heterogeneous swarm of robots.
Challenges:
- Design a UAV-UGV system physically coupled using a passive tether; % to explore unknown regions hidden from the field of view of the UAV like cavities and regions where UGV alone cannot reach;
- Design a miniature robot with autonomous navigation capabilities;
- Design and implement exploration and manipulation techniques for the miniature robot, as it might not be able to use existing algorithms because of the lack of (high-end) sensors and computations required;
- Design a miniature robot with autonomous navigation, exploration and manipulation capabilities, even though the miniature robot is equipped only with limited low-end sensors and computation board;
- Design a gripper that can be installed on a mini robot to pick and place objects in a hidden space;
- Design a robust software-system architecture to support repetitive operations.
- Ubuntu : 16.04+
- ROS : Kinetic+
- CPU : ARM7+ or Intel i3+ or AMD R4+
- RAM : 4GB+
- Memory : 10GB+
cd ~/
git clone https://github.com/scifiswapnil/UAV-uGV-system
cd UAV-uGV-system/ROS
source /opt/ros/melodic/setup.bash
catkin_make
source devel/setup.bash
roslaunch robomax_description robomax_world.launch | Sr No | Part Name | Link | Spec | Cost | Quantity | Total (in INR) |
|---|---|---|---|---|---|---|
| 1 | Microgear Motor | source | 210:1 gear ratio 60 RPM 1.9 kg-cm Extended shaft |
1679 | 5 | 8395 |
| 2 | Microgear Motor Encoder | source | 12 CPR LP & HP compatible |
999 | 5 | 4995 |
| 3 | Microgear Wheels | source | 42mm x 19mm Wheel Rugged encoder Built in |
700 | 5 | 3500 |
| 4 | Rpi waveshare mini cam | source | Rpi zero 5 MP mini camera | 1979 | 1 | 1979 |
| 5 | 9DOF IMU sensor | source | I2C interface 400kHz Fast Mode I2C |
1479 | 1 | 1479 |
| 6 | Motor Driver | source | Dual HBridge driver 1.2A per channel |
489 | 2 | 978 |
| 7 | Li-ion BMS | source | 3S Li-Ion charge/Discharge 11.1 - 12.6 CutOff |
200 | 2 | 400 |
| 8 | Li-ion battery | source | 2 pcs 18650 charger included |
3529 | 2 | 7058 |
| 9 | ESP 32 + camera | source | ESP32 0.9 MP Camera |
1060 | 1 | 1060 |
| 10 | Rpi zero camera kit | source | RPi zero case convertors |
2490 | 1 | 2490 |
| Total | 32334 |
| Sr. No. | 1 | 2 | 3 | 4 | |
|---|---|---|---|---|---|
| Robot name | Pololu Zumo | Nvidia Jetbot Ai | Turtlebot Burger | Robomax(Ours) | |
| Structural | Weight | 160 grams | 900 grams | 350 grams | |
| Size | 100x100x45 mm | 138 x 178 x 192 mm | 130 x 120 x 55 mm | ||
| Drive type | Differential with track drive |
2 Differential drive + 2 castors |
4 wheel drive | ||
| Sensors | Monocular camera | No | 8 MP ; 30/60 FPS ; Monocular camera |
No (can be added) | 5 MP ; 30/60FPS ; Monocular camera |
| IR | 2 front ; 1 left ; 1 right |
No (can be added) | No (can be added) | 2 front | |
| LIDAR | No | No | Yes | No | |
| IMU | 6 DoF IMU | No (can be added) | 9DoF IMU | 6 DoF IMU | |
| Communication | No | Wifi/Bluetooth | Wifi/Bluetooth | Wifi/Bluetooth | |
| Actuator / Display | Buzzer / OLED display unit |
OLED Display | No | EPM - electro- permanent magnet |
|
| Computation power | Atmel microcontroller |
Cortex-A57 + 128 Core GPU |
Rpi 3 b + OpenCR | Rpi zero W + ESP 32 | |
| Battery type | 4x AA Alkaline battery |
Li-ion/Li-Po/Portable power Bank |
Lipo Battery | 2x 18650 Li-ion battery |
|
| Operation time | 45 mins | 65-90 mins | 85-110 mins | 30 mins | |
| Programmable | Arduino platform | Debian platfrom / ROS | Debian platform / Arduino / ROS |
Debian platform / ESP-IDF / ROS |
| PCB prototype | UGV CAD Model | First prototype |
|---|---|---|
 |
 |
 |