Next Steps

Options for future research projects and tasks to accomplish

Mileu Babel

Future hardware application can make Babel autonomous. The Odyssey Seeed Computer can power the Lidar unit and Intel camera to have a two-part sensor system for image processing (with Intel Camera) and distance sensing (with Lidar unit). This configuration would be analogous to the Mileu Azimuth configuration which would allow for easy software transfer between the two robots.

Another option explored in Fall 2021 is the integration of the ZED2 camera. This stereo camera has superior mapping and depth perception capabilities, and is interfaced with easily through the ZED Software Development Kit (SDK). However, this advanced capability requires a GPU which the Odessey Seeed does not have. For this reason, the ZED2 camera must only be used with the Jetson Nano computer. The computers can be used in parallel on the tank platform but ideally the ROS environment for powering the motor controller from the Seeed can be ran on the Jetson Nano for a direct hardware replacement.

Many hardware improvements can be made across the platform for mounting the frame and hardware and routing wires more securely. During Fall 2021, many temporary connections were made as the robot was still in the prototyping phase. If the ZED2 camera is to be used long term, a new hardware frame should be designed to incorporate the larger camera housing.