claydergc / six_wheel_robot

Six Wheel Robot

This is a project to make a six-wheel robot with Arduino and Raspberry Pi.
It consists with

• Six-wheel car platform
• Dual VNH3SP30 Motor Driver Carrier MD03A
• Battery
• Arduino
• Raspberry Pi
• Wifi module
• camera

Contents

1. Using motor driver(MD03A) with Arduino
2. Hardware settings of six wheel platform
3. Raspberry Pi setup
4. ROS installation and setup for Raspberry Pi
5. Communication between Arduino and Raspberry Pi
6. Communication between Raspberry Pi and PC (ROS)
7. Communication between Raspberry Pi and PC (Node.js)
8. Make a ROS package to communicate with Arduino to control motors
9. Use raspberry pi camera module with OpenCV
10. Black line detection with OpenCV
11. Path following algorithm

Youtube Video

Hardware architecture

Software architecture

Architecture with node.js

This is the planned architecture. However, there was a problem with Socket.IO in C++ so the next simple architecture was used.

Architecture without node.js

Since there was a problem, C++ process directly sends serial command to Arduino. The disadvantage of this system is that we can't control the robot remotely.