Visualization of a robot
Description
This project represents the most challenging and comprehensive initiative I have undertaken to date (mid 2022). Developed during my studies, it integrated concepts from multiple university courses into a unified practical application. The project’s primary objective was to design and build a remotely navigable mobile robot equipped with a lidar sensor for environmental perception. Due to its circular form factor resembling the well-known Roomba vacuum cleaner, the robot was aptly named after it.
The project consisted of three distinct but interconnected modules, each corresponding to a specific course:
Robot Software:
- Developed control algorithms and wireless transmission protocols.
- Implemented on an STM32L4 microcontroller for robust performance.
Graphical User Interface (GUI) Application:
- Created a comprehensive GUI for sensor data visualization.
- Integrated real-time 3D environmental mapping using data obtained from the lidar sensor.
Mechanical and Electronic Design:
- Designed and constructed the robot chassis and integrated components.
- Included a lidar sensor mounted on a stepper motor, dual DC motors with corresponding drivers, and a battery pack optimized for extended operational periods.
- Developed a fully custom PCB incorporating necessary electronic drivers and circuits.
The remote control utilized an STM32L4 microcontroller with joystick input and communication facilitated by a LoRa radio module for reliable remote navigation and control.
Complete software implementations are accessible via Gitlab, organized into four repositories:
This project was made for my university courses called “Robot controllers”, “Visualization of sensors data” and “Mobile robots” at Wroclaw University of Science and Technology.