My 4WD rocker-bogie suspension rover
@ February 27, 2011
- Actuators / output devices: 5 normal servos, 4 continues rotating servos
- Control method: autonomous
- CPU: Picaxe 28x1
- Power source: 4 x 1.2V NiCd batteries, 2400mAh
- Programming language: Picaxe basic
- Sensors / input devices: Sharp GP2D120 IR sensor
- Target environment: Indoor or outdoor
| Attachment | Size |
|---|---|
| My_4WD_rocker-bogie_suspension_rover.zip | 1.69 MB |
Not much to say, I am building another robot with a rocker-bogie suspension similar like the Mars rover Sojourner has.
As two wheel alignment servos always moving simultaneously, they can be controlled by one output via inverters:
2011.3.2
Started to program my rover and came up with following idea for obstacle avoidance:
The Sharp IR will be moved by a servo to 11 positions. On every position the distance will be measured and stored in a word variable. If one of measured distances exceeds a given level, the rover will turn on the spot to the opposite side to avoid the obstacle. If none of the 11 distances exceeds a given level, the ∑ of w0 to w4 and the ∑ of w6 to w10 will be built. Then it will be evaluated if the ∑ of w0 to w4 > ∑ of w6 to w10 or ∑ of w0 to w4 < ∑ of w6 to w10 and the according positive difference calculated. If the difference exceeds not a defined value, the rover moves forward. If the difference exceeds a defined value the rover also starts a obstacle avoidance by turning on the spot away from the according side.
TBC
@ Sun, 2011-03-06 08:28
SWEEEET!!!
I am so exciting to see it in action!! What a cool little guy~ Looking forward to see more of it~~
@ Sat, 2011-03-05 14:58
Video sound track suggestioon
"Do the Hokey Pokey".
@ Sat, 2011-03-05 13:11
Bigger wheels
You might want to consider bigger wheels.
@ Fri, 2011-03-04 00:34
Nice idea on the
Very nice approach to the obstacle avoidance. I might redo mine now that I've read your idea.
@ Fri, 2011-03-04 12:32
Cool. Be sure to make a new
Cool. Be sure to make a new video and show how it works :)
@ Fri, 2011-03-04 13:55
Speaking of videos, when are
Speaking of videos, when are we going to see this beast in action, Markus? ; j
@ Fri, 2011-03-04 14:02
Programmed a show case
Programmed a show case (showing the diffrent moving functions) and obstacle avoidance mode already the last 2 nights. Yesterday it climbed over a 8cm high obstacle (hot chocolate box). Unfortunately I need to work tomorrow (Saturday, damn it), so I'll try to shot a video on Sunday :)
@ Wed, 2011-03-02 15:44
You mentioned in the Shout
You mentioned in the Shout Box that you were thinking of building a 3 wheel rocker bogie. Do you mean that the entire vehicle will have three wheels, or that each bogie will have three wheels?
@ Thu, 2011-03-03 01:52
I mean that the entire
I mean that the entire vehicle will have three wheels, but it's just an idea...
@ Wed, 2011-03-02 10:13
Looking forward to seeing
Looking forward to seeing how that obstacle avoidance will work! (Have subscribed :)