Smart Rover – Version 1 & 2

A personal robotics project developing an omnidirectional autonomous ground vehicle, enhanced with robotic arm and computer vision.

Smart Rover: Version 1 & Version 2

Overview

A personal robotics project that focuses on developing an omnidirectional autonomous ground vehicle using an MPU6050 IMU and Arduino to control four omni-wheels.
The project was divided into two development stages:

  • Version 1: Focused on yaw stabilization and added a 4-DOF robotic arm for manipulation tasks.
  • Version 2: Enhanced with YOLOv4 object detection powered by Jetson Nano, enabling the rover to recognize and react to objects in real-time.

Contribution

  • Designed the mechanical chassis and integrated omni-wheels for holonomic motion.
  • Implemented IMU-based yaw control using PID algorithms.
  • Designed and controlled the 4-DOF robotic arm using inverse kinematics on Arduino.
  • Set up YOLOv4 on Jetson Nano for object detection and communication with the motor controller.

Results

  • Developed two functioning rover prototypes demonstrating key robotic concepts: orientation control, object detection, and manipulation.
  • Enabled basic autonomous responses based on computer vision input.