fR1D2 robot Project
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This article
documents the construction of a second mobile robot in an R2D2 case.
The platform has two independently driven wheels, and two casters. A
single pc-class computer is onboard, operating from it's own 12-volt
battery, and linked to a wireless network. Use of standardized
components allowed for a rapid construction and operation of the
unit. The project combined aspects of digital and analog design,
motor control, sensor interfacing, software architecture design, and
programming.
A
previous project along these same lines was termed R1D1. This current
project, dubbed R1D2, takes advantage both of lessons learned, and
advances in technology. For example, the new onboard computer has 5
times the clock frequency of the one in the previous project, but
draws less power. Drive mechanics and electronics remain the same.
The computer still draws more current than the drive motors, which is
consistent with the Jet Propulsion Lab's experience with the Mars
Rovers - it takes more power to calculate where you want to go, than
to actually go there.
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