Meet CbBot (WIP)

[Andrew Didenko]

Hi,
Wanted to share my WIP inspired by LINOROBOT project. Thank you Juan Miguel Jimeno for such a great project!
The main idea was to build functional (NOT MILITARY!) surveillance robot with autonomous mode and map building features. For now I built test platform, which has all hardware devices to play with.
Hardware used:
 - cutting board - it was first thing I saw which had suitable size)));
 - 70:1 Metal Gearmotor 37Dx70L mm with 64 CPR Encoder + Dagu Wild Thumper 120x60 mm;
 - L298N drivers;
 - Teensy 3.2;
 - MPU-9150 gyro+accel+magnetometer;
 - Zotac ZBOX-BI323-E + 4GB RAM + 160 GB SSD - for mapping, image processing, web interface, etc....;
 - neato lidar;
 - asus xtion pro + web camera;
 - Li-Pol Redox 6000mAh 30C 3S 11,1V + printed case - for 4-5 hours of work

I had to update Linorobot teensy firmware to use MPU-9150 and a little changes to work with 2 motor drivers for 4 motors. Also moved to navigation with DWA planner - looks like it is more robust.

But still there is a lot of work to do:
 - add 3D map build based on octomap;
 - save PID and other firmware parameters into teensy flash memory;
 - fuse accelerometer and odometry;
 - check battery level status from Teensy;
 - attach to CbBot my second project - smart gimbal camera with image processing and object recognition/tracking;
 - develop 3d printed body elements;
 - add robot lights control;
 - add ultrasonic bumpers;
 - GPS support, CAN bus support;
 - develop nice Web interface, android app...
 - and many other great ideas!
Attached some photos.

And again, thank you Juan for inspiration!!!

[Juan Miguel Jimeno]

Hi Andrew,

Nice build man! Great to see new builds and flavors of it. :p

Would be great if you can share your navigation parameters (DWA planner) for those who are currently tuning navigation stack and looking for alternative parameters.

Great job, mate! Happy Hacking!

[Francesc Furroy]

good job man, have you got any video to see it running?

[Andrew Didenko]

Thanks Francesc. Yes, you can see build log video on my channel https://youtu.be/MqSB-T0HsFo
Also you can find there some tests of SLAM algorithms. But it was long time ago. For now I'm working on unified robotic platform, which consists of 3D-printed parts on a metal base. There is no full length build log yet, but you can see my progress here https://youtu.be/WoZDripsYrw and and here https://www.instagram.com/p/BXduH3TlWLT/ And lots of photos here https://www.instagram.com/robotics_weekends/