TankBot is a small chain-driven robot that I am building as a way to improve my understanding of robotic algorithms.
- Chassis: fully metal chassis bought in China (TS100)， around 50 USD, expanded with two levels
- Two brushed 12V motors that drive the left and right belt
- Motor controller: DVR8833 Mosfet-based, 2x1.5A continuous (sufficient for the motors)
- 12V battery (currently 3S 18650 Li-Ion cells)
- Main processing board: Raspberry Pi 3 (planned to be upgraded to something more powerful at some point)
- Sensor/motor controller: Arduino Mega (perhaps a Uno is sufficient, but there was enough space)
- Sensors: YDLidar 2D lidar, Raspberry camera (front facing), IMU sensor
- Planned features: lane and object recognition through camera, lidar data processing with PCL, SLAM
- PCL (Point Cloud Library) >= 1.7 - http://pointclouds.org/downloads/
- Cmake >= 3.1
- Linux (recommended Ubuntu >= 16.04)
- Potentially additional requirements for ydlidar (see https://github.com/EAIBOT/ydlidar/tree/master/sdk)
$ git clone https://github.com/jhallier/TankBot
$ cd TankBot
$ mkdir build
$ cd build
$ cmake ..
$ make
$./tankbot