A Robot base for SLAM experiments

Hi everybody,

I'm starting a new Robot project after the experience with my first, and small, one.

My goal is to build up a robot base platform to be used to play with SLAM algorithm and image vision. From the experience on my first robot I got this guide lines for this second one:

  • get a good control of motors speed;
  • high resolution encoders;
  • low center of gravity.

To achieve those goal I choose the RD02 drive system (http://www.robot-electronics.co.uk/cgi-bin/sh000001.pl?REFPAGE=http%3A%2F%2Fwww.robot-electronics.co.uk%2F&WD=rd02&PN=Drive_Systems.html%23a5#a5). The chassis base will be hand made from carbon/glass fiber plate.

Here a drawing of my project:

I choose to use omni ball instead caster since the caster can create some uncontrolled move during direction changes. Furthermore I add 4 of them in order to increase the ground base area (increase stability) and to reduce the load on each omni ball.

What do you think about? Do you have some suggestion for me before I start construction?


Why are you concerned about ground base pressure and stability? Unless you are working on a perfectly smooth level hard surface, the design you're considering won't work since the stabiliser wheels can lift the driven wheels off the surface.

The robot will work indoor in an environment with flat ground so this should not be a problem.

I also consider possibility to use some caster like emmeshop.it instead omni ball but I'm little worried about the influcence caster can have on robot.

I think, since it will move on smooth surface, make more sense to take advantages of omni wheel but, since this is my second robot, I'm not so experienced and maybe I wrong to evaluate side effects!