PLUTO PROJECT

SYSTEM Overview

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:

Technical Information:

SYSTEM CONTROL

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

The main functionalities of navigation are performed with different ROS nodes that provides navigation and localization functionalities. The embedded system is running on a Raspberry Pi 3

By the usage of a Sick Lidar and an IMU the robot is able to perform a proper evaluation robot localization and then perform the navigation.

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)

Brush-less Motor
ESC example (not used in this project)

A separate firmware running on a Teensy 3.2 that receive velocity command and publish achieved velocity process with a PID controller (in a ROS manner)