The main objective of the Pluto platform, as a system, is to develop a fully-functional autonomous driving and self localizing and mapping ground robot.
- A resizable Carter made of T elements
- A power train based on two brush-less motors (150W Each) running at a nominal voltage of 7.4V and LIPO batteries (5000mAh, Peak 50A).
- An electronic control system based on different ROS nodes and a number of sensors
- A payload that can be powered with a DC between 12 to 48 V and (a fridge in our prototype) and 150W
System Hierarchy view:
The entire system is controlled via a webapp, that allows different nodes to run and perform the SLAM tasks or the Autonomous Navigation
THE NAVIGATION SYSTEM IN DETAIL
A sensors fusion, including the RPMs acquisition of the wheels allows the bot to navigate and localize.
Sensor Fusion for robot localization
The power train is composed by two independent brush-less motors controlled by two ESC (electronic speed control)