WEBOTS, Realistic 3D simulator and robot programming (Windows and Linux)ĭevelopment Environment for Autonomous Application System boot loader in executable format and source code. Standard Serial Port, at 115200 bps with serial cable KoreConnect, Built-in Bluetooth module, USB communication with KoreBotLE, Wireless Ethernet with KoreBotLE and Wi-Fi cardġ x KB-250 Interface (2×50-pin, see below)ĥ3 x GPIO pins (if not used for above features) Additional turrets will reduce battery life. ~8 hours, moving continuously, without Korebot. Power Adapter, Swappable Lithium-Polymer battery pack (1400 mAh) The urban environment consists of a flat platform, several traffic lights, several two-way streets, and buildings/parking garages.ĭsPIC 30F5011 at 60MHz, Intel XSCALE PXA-255 400MHz KorebotLE ExtensionĢ DC brushed servo motors with incremental encoders (roughly 22 purses per mm of robot motion)ĩ Infrared proximity and ambient light sensors with up to 25 cm range, 2 Infrared ground proximity sensors for line following applications, 5 Ultrasonic sensors with range 20 cm to 4 meters Here are the detailed specifications that we have worked with. Everything has been constructed to be as modular as possible. Everything is or can be monitored on the main computer. The Kheperas have a KorebotLE attachment with a Wi-Fi card that allows for communication and complete autonomy. It has been constructed to mimic a small urban environment with roads, buildings, and traffic lights. The environment itself consists of a custom built platform crafted to allow the Khepera III robots to roam on. This experimental platform consists of three main components: the environment, the robots, and the main computer.
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