ROVER_1

Autonomous Waypoint Navigation

A compact autonomous rover designed for smooth, precise waypoint navigation. Built with custom Python control software, IMU fusion, mecanum kinematics, and predictive motion control.

Rover_1 autonomous rover on grass
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Core Systems

🧭

IMU Fusion

Real-time heading stabilization using complementary filter combining gyro and magnetometer data (98% gyro / 2% mag). Minimal drift during fast turns.

⚡

Mecanum Kinematics

True omnidirectional movement—forward, sideways, diagonal, rotational—controlled through mathematically modeled wheel velocities.

🎯

Pure Pursuit Path Tracking

Continuous path-following algorithm calculates smooth, curved trajectories between waypoints with dynamic lookahead adjustment.

📈

Motion Profiling

Acceleration limiting prevents jerky motion. Linear acceleration capped at 1 m/s², angular at 2 rad/s² for realistic vehicle-like movement.

🔧

Path Smoothing

In Progress

Cubic spline interpolation and curvature-based speed control for predictive, adaptive movement on uneven terrain.

Build Specifications

Hardware Platform

Chassis
Aluminum frame with modular mounting system
Drive System
4x mecanum wheels, dual motor driver
Controller
Raspberry Pi 4 running custom Python control stack
Sensors
BerryIMU v3 (gyro, accel, mag) and ZED-F9R GPS
Power
12.9V 10Ah Li-ion battery pack (122Wh)
Connectivity
Built-in Wi-Fi for web-based control

Software Architecture

imu_fusion.py
Sensor fusion filter for gyro/mag alignment
mecanum_kinematics.py
Translation and rotation mapping
pure_pursuit.py
Path tracking logic
motion_profiler.py
Acceleration smoothing
path_smoother.py
Velocity and curvature planning
Rover_1 internal components and wiring

Internal view showing power system, Raspberry Pi control unit, BerryIMU v3 sensor suite, and GPS receiver wiring.

Development Roadmap

Phase 1: IMU Fusion

Gyro + magnetometer complementary filter for smooth heading control

✅ Complete

Phase 2: Mecanum Kinematics

Omnidirectional chassis control

✅ Complete

Phase 3: Pure Pursuit Controller

Smooth waypoint path tracking

✅ Complete

Phase 4: Motion Profiler

Acceleration and rotation limiting for refined control

✅ Complete

Phase 5: Path Smoothing

Curvature-based velocity profiling

🔧 In Progress

Phase 6: Sensor Fusion Expansion

Integrate full ZED-F9R inertial + GNSS data

🧠 Planned

Phase 7: Obstacle Detection

Add stereo or depth camera input for avoidance

🚧 Future

Phase 8: Solar Recharging

Energy-autonomous operation for long-term outdoor testing

☀️ Vision

See It In Action

Rover_1 demonstrating autonomous waypoint navigation with smooth motion profiling and omnidirectional movement capabilities.