Exploratory project in Embedded Robotics and Swarm Algorithms
Warning: This is an ongoing project, and the repository is under construction!
- Small PCB-based frame, minimum 3D printed parts
- ESP32-S3 MCU with vector instructions, acceleration for neural network computing and signal processing workloads
- Wi-Fi, Bluetooth 5 and BLE connectivity
- Omnidirectional movement
- Quadrature encoders for precise movement
- 8 MB PSRAM for image processing
- 2 Megapixel camera and ToF sensors for running embedded robotics algorithms
- Powered via USB-C or 3000mAh LiPo battery with inner protection and external charging circuit
- Load sharing circuit for operating the robot while charging
- Buck-Boost converter for powering the MCU and peripherals
- 6V regulator for powering the middle power range motors
- ESPNOW, ESP-WIFI-MESH or ESP-BLE-MESH for communication between several robots
- Integrated MEMS microphone for sound recognition
- micro-ROS support
Note: Software support for some features is still in progress.
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| Robot | Wheel |
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| Forward movement | Backward movement | Rotation |
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Details
- Add a BOM
- Design a carrier extension in Fusion360
- Test battery charging circuit
- Test load sharing circuit
- Test basic functionality with motors and ESP32-S3
- Test Wi-Fi
- Motors library (in progress)
- Encoders testing
- Device firmware (in progress)
- Sensors testing (in progress):
- Camera
- ToF
- IMU
- MEMS microphone (requires PCB bug fix)
- Remote controller based on ESP32
- PSRAM memory testing
- ROS2 integration via micro-ROS (in progress)
- Web page with control interface and telemetry
- URDF model
- Joystick control via ROS2
- Digital twin for simulation in Gazebo and Mujoco
- ESPNOW and Mesh experiments
- Multi-agent algorithms
- Computer vision algorithms
- Mini SLAM experiments
- MEMS microphone footprint flipped
- Non-fixed Buck-Boost mentioned in the schematics instead of 3.3V fixed
- 6V regulator doesn't disconnect the load if disabled because of topology - extra switch needed
- Battery connector is hard to remove - source power switch needed
- Better (aligned) placement for camera & ToF sensors
If you encounter issue like this building micro-ROS for the ESP32-S3 platform, edit libmicroros.mk file at line 110 to include esp32s3 as follows:
ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3 esp32c6 esp32s3))This project takes inspiration from the following open-source projects:
- https://github.com/YePeOn7/ros2_omni_robot_sim (omnidirectional drive kinematics)
- https://github.com/twistx77/V53L7CX-Library.git (ToF sensor library)
- https://github.com/natanaeljr/esp32-mpu-driver (IMU driver)
- Jonas Scharpf code pf the PCA9685 driver (motor PWM driver)