Rino il robottino

This is an autonomous robot that uses SLAM methods to navigate autonomusly in an unknow environment. For this purposes it uses high resolution encoders on both wheels to compute speed and position.

This is a permanent  "work in progress" because I'm always developing something new both in hardware and software.

The initial inspiration and many of the algorythms used come from the great job of Johann Borenstein  

After the experience with Dino I decided to start developing a new, more complex, robot useful for different categories of robotic contests. This one is composed by different, specialized boards, each one with its own task, managed by a "main" board that decides the behavior of the robot.

The descriptions on http://www.guiott.com/Rino/index.html  is specialized as well on each part of the system and they will be added time by time, as soon other boards will be developed.

Right now it has a navigation board based on a dsPIC33F DSC, a sensor board based on Arduino with sensors for sound (electret), light, touch, direction (CMPS03 compass), and object distance, both sonar (SRF08) and infrared (Sharp IR).

The sound sensors are realized using a Cypress PsOC 1 IC.

The robot telemetry and supervision is obtained with a console written in Processing. The computer (Mac, PC o Linux) is connected with the robot via a couple of XBee.