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pi-zero-2-robot-navigation-head's Introduction

About

Previously called: Floating Navigation Sensor Assembly (FNSA)

This is a crude SLAM navigation unit that can get attached to another robot. In the case below a basic 2 servo buggy with a websocket for control.

It's using a combination of OpenCV/depth probing and IMU for localization.

Note

Active development is being done in the dev branch until a full system is built out and subsequent iterations.

Actual

Presentation

video

Guts

Design

Beam FOVs

Sensor set

  • camera
  • VL530X ToF close range wide FOV
  • TFmini-s lidar long range small FOV
  • MPU 6050 (replaced with 9250)

This is using the IMU for the pan/tilt angles.

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