nasa-jpl/open-source-rover
Open Source Rover
The Open-Source Rover Platform is a hardware and software framework for building and controlling six-wheel planetary exploration rovers. It provides a six-wheel robot chassis and a modular robotics framework designed for integrating various motors, wheel sizes, and chassis materials.
The platform features a six-wheel chassis equipped with a differential pivot suspension and an Ackerman steering mechanism to enable navigation across rugged outdoor terrain. Control is managed through a communication system that connects central processors to hardware via Bluetooth, WiFi, or USB for remote operation.
The system includes electrical governance for power management, specifically tracking battery voltage and current draw to prevent deep discharge. It also supports the coordination of individual motor speeds and wheel orientations for precise vehicle navigation.
Features
- Chassis Suspension Systems - Features a differential pivot suspension to maintain wheel contact and traction on rugged outdoor terrain.
- Steering Control Strategies - Implements Ackerman steering geometry to coordinate wheel orientation and speeds for natural arcs during turns.
- Robotics & Drones - Ships an integrated toolset for developing and operating a six-wheel robotic platform.
- Robotics and Control - Implements tools for robotic system automation and hardware control via onboard controllers.
- Independent Wheel Drives - Governs individual motor speeds and orientations to enable precise navigation of the six-wheel chassis.
- Hardware Integration - Bridges high-level control applications with physical hardware sensors and motor controllers.
- Planetary Exploration Rover Platforms - Provides a comprehensive hardware and software framework for building and controlling six-wheel planetary exploration rovers.
- Rugged Terrain Locomotion - Utilizes a suspension system and differential pivot to keep wheels in contact with the ground while climbing obstacles.
- Vehicle Motion Control - Manages the physical actuators, including steering and acceleration, to navigate a multi-wheel chassis.
- Vehicle Steering Systems - Implements an Ackerman steering mechanism to govern wheel orientation and motor speeds for precise vehicle navigation.
- Hardware Command Routing - Provides a communication bus that routes hardware commands via Bluetooth, WiFi, and USB to the onboard control unit.
- Remote Control Interfaces - Provides Bluetooth, WiFi, and USB interfaces to connect external controllers to the central onboard processor.
- Steering Mechanisms - Coordinates wheel orientation and speed using an Ackerman steering mechanism for precise turning.
- Current Monitoring - Tracks real-time electrical current draw from actuators to monitor power consumption.
- Robotics Prototyping Environments - Supports rapid physical prototyping by allowing modification of motor speeds, wheel sizes, and chassis materials.
- Robot Hardware Customization - Provides a modular framework to integrate alternative motors, wheel sizes, and chassis materials to modify vehicle performance.
- Device Power Monitors - Provides utilities for querying and reporting battery voltage and current levels to manage energy use.
- Flight Battery Monitors - Tracks real-time voltage and current levels to determine remaining drive time and prevent deep discharge.
- Robotics Frameworks - Build-it-yourself rover software based on Mars designs.
- Hardware Projects - Six-wheeled build-it-yourself rover for exploration.
- Robotic Platforms - Build-it-yourself 6-wheel rover based on Mars exploration designs.
- Robotics Frameworks - Build-it-yourself software for 6-wheeled rovers.
