APMRover 2, a fun UGV project for full autonomous recon missions...

[UPDATE: This project is now being ported to a proper Google Code repository and manual. For instructions, start there. You can also join the ArduRover User Group here.]

Hello to ALL, the new firmware for APMRover v2 has been tested successfully on my rover on may 1st, 2012 on full autonomous reco mission following a navigation plan. This new release of the APMRover v2 works on the APM v1.4 with the OilPan shield (magnetometer + MT3329 GPS) and also of course on the APM v2. The previous version of the APMRover v1.0 was a light size version specially designed for the APM1280 CPU (only) board and the MT3329 GPS.

For the frame, I have used a Traxxas Monster Jam Grinder with a brushed and high power motor Titan 12T and its XL-5 ESC.

The APMrover UGV is able to run itself following a list of recorded waypoints. The waypoints list (FPL) can be preloaded with the APM Mission Planner OR better in live, recorded by the pilot himself (with the SW7) during a manual run and then replayed in a full autonomous mission.

The firmware APMrover2 for APM v1 + OilPan or APM v2 successfully tested can be downloaded HERE

The APMrover v2 is also online on the official ArduPilot-Mega GIT repository HERE

Below the PID setup for the APMrover v1 and v2:

The light firmware APMrover1 for APM v1 (CPU 1280 or 2560) that I have tested can be downloaded HERE

Here's how to connect your cables:

More infos at: http://diydrones.com/profile/JeanLouisNaudin

Have Fun and Enjoy with the APMrover...

Regards, Jean-Louis

@Daniel, JL's program is moving along at an incredible pace. I would like to contribute, but honestly I can't keep up with him, and frankly I'm afraid that me trying to "help" will just slow it down!

JL: Feature request. Do you think you could program it to allow users to input rollover angles, and then have the code look at the attitude, and if the rover passes a do-not-exceed angle, it stops.

Well, there are two things here. If the rover is moving with speed, and is executing a turn, and the g-force sensor indicates impending rollover, it should either/or slow the motor speed, or widen the turn. I know this is sort of avoided already by setting the correct speed target, but if the rover encounters an off-camber turn, the default speeds will be too high.

Then there is the case where the rover is crawling over an obstacle, and is simply going to roll-over. In this case, it would stop. Even better would be to actually turn downhill and attempt to get around the problem, similar to if it had detected an obstacle with sonar.

Further to that, it might be useful to be able to program in different speeds for different waypoint legs. For example, the user might traverse open ground quickly to a waypoint, and then run the next section at a reduced speed due to terrain.

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Comments

Franco Borasio May 21, 2012 at 10:17am

Hello Jean Louis,

I've succesfully test the 2.1.6 rev with new library, is very good to see in APM planner the pid value only for rover project.... good job also to Michael Oborne, and R. Lefebvre for their efforts !!!!!

At this time I try to ask to you (if it's possible) to implement a little bit sonar program for obstacles avoidance.

I mean: if sonar read a value lower than 100 cm (this is a value I can change), stop the car put the wheels stright or to the left (like you want), go backwards until sonar read a distance higher than 200 cm ( if it's possible this is another variable I can change just for try the right value), and then contine the mission.

Tell me please if it's possible make an update like this to the program, obviusly is not the same like to have a Lidar, but can be very good for people that has a sonar sensor.

Best regards

Franco
Developer

Jean-Louis Naudin May 20, 2012 at 10:10pm

Hello Alan,

I haven't yet planned to use a laser sensor as a Lidar for obsctacles avoidances. This was only a useful info for the group here.

Regards, Jean-Louis
T3

healthyfatboy May 20, 2012 at 1:52pm

Thanks JL, I knew I could use the Lite version and have done so once. I was just wondering if I'll miss out on any of the new features that might get implemented. I know I can't get telemetry and without the magnetometer, it won't be quite as accurate at low speeds but is there anything else I might miss out on?
KM6VV May 20, 2012 at 1:07pm

Hello Jean Louis,

A Neato laser sensor would be a great addition! Are you considering it?

I know the guys over at Neato (HBRobotics club, Sunnyvale CA).

I haven't been able to get a sample yet, 'tho.

Alan
Developer

Jean-Louis Naudin May 20, 2012 at 8:39am

Hello healthyfatboy,

I can answer to your question by YES, you may use an APM1280 v1.4 IMUless version (no Oilpan) with the GPS MT3329 and without the magnetometer so as to have a cheap version with the latest version of the APMrover v2.1.6a...

You need only to set: #define LITE ENABLED

See below the compilation result with my APM1280 IMUless version:

Binary sketch size: 102568 bytes (of a 126976 byte maximum)

Regards, Jean-Louis
T3

healthyfatboy May 20, 2012 at 6:12am

I'm curious, with the latest changes all the way to 2.1.6, can you still use the APM 1280 only to run 2.1.6? I don't need telemetry and the IMU is not used for anything so I was considering selling my 2560+IMU+Mag combo to raise some funds for a new computer as our family one is getting old and slow.
Daniel Chapelat May 19, 2012 at 12:48am

hello jean louis
Do you intend to purchase this sensor to improve Apmrover?
following you I'm afraid that we are obliged to recover all theappliances of Madame ...!
Regards Daniel
Developer

Jean-Louis Naudin May 18, 2012 at 10:51pm

Hello to All,

Here an interesting sensor which can be used for an accurate obstacles avoidance:

This is low cost laser rangefinder (LIDAR) used in a XV-11 vacuum cleaner robot from Neato Robotics...

http://www.hizook.com/blog/2009/12/20/ultra-low-cost-laser-rangefin...

inside view of the LIDAR sensor:

http://www.robotshop.com/blog/neato-xv-11-disassembly-see-the-guts-...

and the full schematic with technical details of the XV11 Lidar:

http://random-workshop.blogspot.fr/

Regards, Jean-Louis

Ultra Low-Cost Laser Rangefinders Actualized by Neato Robotics | Hizook
Daniel Chapelat May 18, 2012 at 7:32am

Hello R.Lefebvre
I completely agree with your comments.
I can be a tester of different versions of Arduino JL because my skillsare weak, be sure Jean Louis will concoct even Revision amazing!
Daniel
Rob_Lefebvre May 18, 2012 at 6:48am

@Daniel, JL's program is moving along at an incredible pace. I would like to contribute, but honestly I can't keep up with him, and frankly I'm afraid that me trying to "help" will just slow it down!

JL: Feature request. Do you think you could program it to allow users to input rollover angles, and then have the code look at the attitude, and if the rover passes a do-not-exceed angle, it stops.

Well, there are two things here. If the rover is moving with speed, and is executing a turn, and the g-force sensor indicates impending rollover, it should either/or slow the motor speed, or widen the turn. I know this is sort of avoided already by setting the correct speed target, but if the rover encounters an off-camber turn, the default speeds will be too high.

Then there is the case where the rover is crawling over an obstacle, and is simply going to roll-over. In this case, it would stop. Even better would be to actually turn downhill and attempt to get around the problem, similar to if it had detected an obstacle with sonar.

Further to that, it might be useful to be able to program in different speeds for different waypoint legs. For example, the user might traverse open ground quickly to a waypoint, and then run the next section at a reduced speed due to terrain.

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