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dbot

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@wrodders

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KiCad projectAll 15 files, ready to open in KiCad431 KB
For fabricationGerbers, drill, pick-and-place and BOMGerbers and drill zip82 KBGerbers and drill zip: PiCard513 KBPick and place (CSV)1.4 KBPick and place (CSV): PiCard535 BBOM CSV4.5 KB
Schematic PDFEvery sheet, to read or print153 KB
3D modelThe board with its parts, for an enclosure (GLB)3D model (GLB)3.5 MB3D model (GLB): PiCard53.6 KB
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README

Two Wheel Self Balancing Mobile Robot

Final Year Capstone Mechatronics Project. Designed to be a cost effective platform for research and development of autonomous mobile robotics. The non linear and unstable dynamics of the Two Wheel Self Balancing Mobile Robot (TWSBMR) make it a challenging platform for control and navigation.

Low Level motor control implemented on STM32F411RE microcontroller, using LibOpenCM3. High Level Monocular Navigation uses RaspberryPi 5 with the Pi Camera V3. ComsTerm used as engineering UI.

Design

The project was built around milestones of autonomy:

  • Stabilization
  • Positional Control
  • Teleoperation
  • Path Following
  • Path Recovery
  • Track Racing

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