Moxom's Master, autonomous ground robot

Documentation of the design of Moxom's Master, our entry to the  Intelligent Ground Vehicle Competiton.

Systems

• ROS Robot Operating System ( official site)
  • rhrt-ros-pkg
    • moxoms_master: moxom_launch moxom_node? black_jaguar
• Computer (configuration)
• LIDAR SICK LMS-291 S14 — laser rangefinder
• GPS NavCom SF2050M
• MicroStrain IMU 3DM-G — 3-axis accelerometer and digital compass
• Camera? Elphel 353 — high-resolution network camera
• Motor control Black Jaguar × 4

The IGVC

• About the IGVC
• IGVC travel route

Hardware

• TODO
• Proposed desgins
• 2010 design
• Parts
• Manufacturing
• Legacy robot

Electronics

• TODO
• Overview
• CAN (obsolete)
• Proximity sensor boards (obsolete)
• Monitoring System
• Kill switch
• Battery monitor
• Power distribution
• Preferred Vendors

Software

• Current Status
•  OpenCV introduction
•  OpenCV 2.0 docs,  Python bindings
• Linux cheat sheet
• Architecture
• Path planning
• Localization (Kalman filter)
• Computer Vision
  • Connecting to the camera
  • Camera calibration
• Wiimote
• Motorcontroller Build Process/Dependencies