Rovers¶
Discover employs unmanned ground vehicles (UGVs) for sensing and control experiments. We use the LeoRover for our UGVs. Each rover runs Ubuntu 20.04 and ROS Noetic. Our rovers can be configured with a multitude of sensoring capabilities, such as GPS, lidar, and more.
Hardware¶
Processing¶
Each rover comes equipped with a Raspberry Pi 4 Model B and 2 GB of RAM. In the future, we hope to supplement the Pi with a Jetson Nano.
Networking¶
Each rover comes equipped with a 2.4 GHz WiFi modem, along with Bluetooth 5.0.
Sensing¶
Camera¶
Each rover has a 5-megapixel fisheye camera providing a 170-degree field of view.
Lidar¶
Each rover can be equipped with the RPLidar A2M8, which is a 2D lidar. The lidar has a sampling frequency of up to 8 thousand samples per second, at an angular resolution of 0.9 degrees, and a measuring range of up to 12 meters.
GPS¶
Each rover can be outfitted with an Emlid Reach M+ GNSS RTK receiver module to provide precise positioning data.