This paper describes a mobile ground-based robotic platform named Voyager which was developed to support robotics research and replace the old mobile robotic platform, the Pioneer. A comparative analysis was done with three mobile robot: platforms Pioneer 3-DX, Clearpath Robotics Jackal, and SuperDroid Robots VIPR to determine the requirements for Voyager's development. The Voyager is currently equipped with a 3D LiDAR scanner, inertial measurement unit, and camera to allow for the onboard software to perform obstacle avoidance as well as avoid non-traversable terrain when driving outdoors. This universal platform has been used for developing new algorithms for path planning, obstacle avoidance, localisation, and mapping.
Reference:
Purdon, K., Dickens, J.S., De Ronde, W., Ramruthan, K. & Crafford, G. 2023. Voyager, a ground mobile robotic platform for research development. http://hdl.handle.net/10204/13641 .
Purdon, K., Dickens, J. S., De Ronde, W., Ramruthan, K., & Crafford, G. (2023). Voyager, a ground mobile robotic platform for research development. http://hdl.handle.net/10204/13641
Purdon, Kyla, John S Dickens, Willis De Ronde, Kshir Ramruthan, and Gerrie Crafford. "Voyager, a ground mobile robotic platform for research development." RAPDASA-RobMech-PRASA-AMI Conference, CSIR International Convention Centre, Pretoria, South Africa, 30 October – 2 November 2023 (2023): http://hdl.handle.net/10204/13641
Purdon K, Dickens JS, De Ronde W, Ramruthan K, Crafford G, Voyager, a ground mobile robotic platform for research development; 2023. http://hdl.handle.net/10204/13641 .
