A 4-by-4 rover project
This is a joint collaboration between two groups studying UNIK4490 - Control of manipulators and mobile robots at the University of Oslo. In this project we have implemented odometric localization, posture control and velocity control for a mobile robot.
You can read the project reports here (English - Group 2) and here (Norwegian - Group 1).
The folder "Rover_1" contains all software for the rover without lidar, and the folder "Rover_2" contains the software for the rover with lidar
| Name | Description |
|---|---|
| Hsiang Neng - hn-gh12-1634t 200rpm 30:1 geared | motor with encoder |
| Intel Nuc | computer |
| Teensy 3.1 | small arduino board for reading encoder data |
- Rover 2 and 3 is set up with onboard wifi - login through ssh rosuser@10.10.0.1
- The motor driver on each rover controls both wheel at one side at the same time (meaning you control either left or right wheels)
- when running driver_pid.py you need to take the usb plug in and out the first time
- Course repo