The Brain: We already know that the Raspberry Pi is going to be the brain but we need a mission for the robot. I am not looking to do rocket science so my mission is reasonably simple. In the first state I just want to be able to control the robot via a web interface. Clumsy but it will get things working. Then in an autonomous mode I would like the robot to be able to map a room.
The Platform: The Rover 5 was my choice of a platform. A treaded two or four motor system with encoders for distance measurement. A simple platform for the rest of my stuff!
|Platform - Rover 5|
The Nervous System: While the Raspberry Pi features a pretty good low level peripheral interface I needed more so enter an Arduino Mega. This provides the spinal cord and then enter an Explorer PCB for the rest of the nervous system.
|Nervous System - Arduino|
|Nervous System - Explorer PCB|
Sensory System: The Explorer PCB provides current sensing, encoders, and four corner proximity sensors. To this I am going to add an ultrasonic range finder on a pan/tilt mount and a compass for direction finding. Finally, a webcam on the pan/tilt mount will connect directly to the RPI.