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.
The entire system is controlled via a webapp, that allows different nodes to run and perform the SLAM tasks or the Autonomous Navigation
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 used for first four versions of Plutorobot and Raspberry Pi 4 is for Plutorobot 5.0
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)