Description
In order to reflect the rising popularity of driving assistants and autonomous driving in consumer products, the project robots RC Unimog has been developed. This experimental robot platform allows bachelor students to collect first experience in these fields of research. Starting from winter semester 2017, the RC Unimog replaces the forklifts that have been used for the bachelor project.
The RC Unimog is a platform based on a popular RC-car. Instead of using an RC-receiver, a Raspberry Pi 3 controls the steering servo and the cruise control. The Raspberry-Pi-Camera and an Asus Xtion capture 2D and 3D images. Using AD-converters, a PWM-board, and the Raspberry-Pi-IO-Pins, the infrared sensors to the left and the right of the vehicle and ultrasonic sensors to the front and the rear are connected. Custom made wheel speed sensors have been added to the wheels.
The software platform is based on this group's robotics framework Finroc and software components of other projects in the group. It offers a convenient interface for the students to implement control software for the robot.
Technical Data
| Length | 45 cm |
| Width | 19 cm |
| Height | 18cm |
| Gauge | etwa 1,5 kg |
| Power | one Hacker TopFuel EcoX 5000mAh LiPo |
| Operation Time | (untesteted) |
| Drive | Ackermann drive |
| Wheels | 4-Wheel with differential |
| Maximum Speed | (untested) |
| Motor Control | Tamiya TBLE-02s |
| Computer | Raspberry Pi 3 Model B |
| Camera | Raspberry Pi Camera |
| 3D-Camera | ASUS XTion Pro |
| Distance sensors | Front/rear ultrasonic distance sensors, left/right Sharp infrared distance sensors |
| Wheel speed sensors | Reflectance sensors in a 3D-printed black/white wheel |
| 3D-printed parts | Mounts for distance and wheel speed sensors, case for battery level warner, encoder wheel for wheel speed sensor |
| Various boards | Custom board for sensor connection, custom board for battery disconnection, Adafruit PWM board for steering and speed |