A Modular Mobile Platform with Dual-Camera and LiDAR-based Collision Avoidance Software for Autonomous Robotics Competitions

Abstract

This paper describes the design and realization of a mobile platform for autonomous vehicles to participate in robotics design competitions, such as the Intelligent Ground Vehicle Competition (IGVC). The goal of constructing this platform is to develop future designs of similar platforms and to provide modular software and hardware structures for re-use and adaptability. The software system is loaded onto a Jetson Orin Nano Super and utilizes the Humble distribution of Robot Operating System 2 (ROS 2). It separates each core processing task into a threaded node where data topics are published and/or subscribed to as variable arguments for processing. New nodes can be integrated into the system by linking them to published data topics. In this implementation, sensor integration, data processing, and waypoint planning are all separated into discrete nodes. The mechanical and hardware systems of the robot include a flexible power distribution system using adjustable voltage regulators to support a wide family of use cases. Additionally, an emergency-stop system is built into the frame of the robot and includes a button interface on the robot and a remote transmitter to stop the system at a distance. This frame is an aluminum construction that sits atop a motorized wheelchair base and is connected via a mast that is inserted into a pole in that wheelchair base. This allows for quick changes to the fundamental design structure to be made. A dual-motor differential drive provides the robot with the ability to rotate in place and the ability to perform routine maneuvers necessary to complete navigation tasks.