HMMWV

During my studies at the KIT I built this project together with my friend Maximilian Hess who was responsible for the software. Further information can be found on GuitHub. https://github.com/ne0h/hmmwv HMMWV is a medium sized robot designed to do the following tasks: drive by remote control navigate automatically find and climb steps and stairs To prepare for this task it has a stiff chassis made from aluminum profiles and two strong y-shaped wheel mounts with 3 individual wheels each which can be tilted individually by two high torque EC maxon motors. The wheels at the mounts are connected via a chain drive on either side which is powered by a 60 W motor. To prevent the robot from overturning, it has a tail with an omni-wheel that stabilizes the robot if climbing up and down the stairs or other obstacles. For orientation and path-finding HMMWV has a lidar system from Sick (LMS 100) which sends a two dimensional laser scan to the main processing unit. HMMWV uses a small x86 computer by Gigabyte as its main computer. Due to the fact that a two dimensional cross section of the environment is not enough to get orientation in a three dimensional room, we put the Sensor on a slow rotating platform, which gives us the opportunity to calculate a three dimensional picture of the robot’s surrounding area.