Renoster

Renoster Autonomous 4wd exploration robot

Revision 3 (Work In Progress Prototype)

Revision 3 of Renoster is a complete rework of earlier revisions. Several subsystems have been dropped in favor of a single processor model for the low level control and many components have been upgraded.

 

1. System Overview

 

 
Image 1 High level overview Older Revisions

 

2. Power Supply

3. Low level Control

Processor:

WiringIO [1] with FreeRTOS [2]

Image 2 Task overview

Sensors: 

1. Ocean Server OS5000-S [3] compass
2. 20 Channel EM406A [4] SIRF III GPS Receiver
3. Five Ultrasonic Range Finder SRF02 [5]

Drivers:

1. Sabertooth dual 5A Motor Controllers [6]

4. High Level Control 

Beagleboard [7] with RTSControl [8] running a JAUS [9] module for communication.

 

5. Pictures [10]

Older Revisions

1. Revision 2 [11]
2. Revision 1 [12]