Home

Home robot project

Chassis

Starting using Drogerdy base from Thingiverse - very cool and simple https://www.thingiverse.com/thing:652851/files

Motors

Power

Separate compute battery and motor battery

Motors directly to battery power

Compute on buck step-down to USB 5V

Compute

Arduino Uno for motors

Raspberry Pi 3 B+ for main compute

Joystick

Low-frequency (900MHz) tranceiver on joystick

Use this design for inspiration https://howtomechatronics.com/projects/diy-arduino-rc-transmitter/

Voice control

Keyword detector https://snowboy.kitt.ai/ Integrate deepspeech to order the robot around https://github.com/RichardKelley/unr_deepspeech

Localization & Mapping

Connect to Cartographer running on desktop over WiFi

Navigation

Use ROS2 nav2 package to plan paths

Sensors