Let's Make Robots!

My 4WD rocker-bogie suspension rover

roams around on rough terrain and avoids objects
AttachmentSize
My_4WD_rocker-bogie_suspension_rover.zip1.69 MB

Not much to say, I am building another robot with a rocker-bogie suspension similar like the Mars rover Sojourner has.

As two wheel alignment servos always moving simultaneously, they can be controlled by one output via inverters:

 


2011.3.2

 

Started to program my rover and came up with following idea for obstacle avoidance:

The Sharp IR will be moved by a servo to 11 positions. On every position the distance will be measured and stored in a word variable. If one of measured distances exceeds a given level, the rover will turn on the spot to the opposite side to avoid the obstacle. If none of the 11 distances exceeds a given level, the ∑ of w0 to w4 and the ∑ of w6 to w10 will be built. Then it will be evaluated if the ∑ of w0 to w4 > ∑ of w6 to w10 or ∑ of w0 to w4 < ∑ of w6 to w10 and the according positive difference calculated. If the difference exceeds not a defined value, the rover moves forward. If the difference exceeds a defined value the rover also starts a obstacle avoidance by turning on the spot away from the according side.

TBC

Comment viewing options

Select your preferred way to display the comments and click "Save settings" to activate your changes.

I am so exciting to see it in action!! What a cool little guy~ Looking forward to see more of it~~

"Do the Hokey Pokey".

You might want to consider bigger wheels.

Very nice approach to the obstacle avoidance. I might redo mine now that I've read your idea.

Cool. Be sure to make a new video and show how it works :)

Speaking of videos, when are we going to see this beast in action, Markus?  ; j

Programmed a show case (showing the diffrent moving functions) and obstacle avoidance mode already the last 2 nights. Yesterday it climbed over a 8cm high obstacle (hot chocolate box). Unfortunately I need to work tomorrow (Saturday, damn it), so I'll try to shot a video on Sunday :)

You mentioned in the Shout Box that you were thinking of building a 3 wheel rocker bogie. Do you mean that the entire vehicle will have three wheels, or that each bogie will have three wheels?

I mean that the entire vehicle will have three wheels, but it's just an idea...

Looking forward to seeing how that obstacle avoidance will work! (Have subscribed :)