MIMAS - An academic Mars Rover

Steering is essential for driving, so it was implemented successfully on the RC-VSTB together with a draft of the code to run a servo motor: the idea is to implement an appropriate sensor (Ultrasonic Distance Sensor - HC-SR04) to calculate the distance, placing it on top of a servo motor. Using only one sensor located on a rotating base, helps the RC-VSTB consume less current and run the code easier, instead of a group of sensors individually powered and connected to the Raspberry Pi 1.

• [Hours of work: 3h]
• [People involved: Giorgio, Akshit]

After an update of the power supply, increasing the voltage from 9V to 12V, the RC-VSTB was ready for moving its first step! The test took place in the courtyard of Orwell Terrace Student Accommodation (Edinburgh) and consisted of several accelerations forward and backwards. The first test was successful!

• [Hours of work: 5h]
• [People involved: Giorgio, Akshit]

Some improvements have been made to the program running on the RC-VSTB. Motor drivers are now wired correctly and the vehicle is almost ready for an outdoor test.

• [Hours of work: 2h]
• [People involved: Giorgio, Akshit]

A self-sustaining power supply is essential for driving an autonomous vehicle: the RC-VSTB was finally disconnected from a wall socket source of energy and was provided with a battery pack. A first draft of the program that will run on the RC-VSTB has been written: no motor drivers are used in this stage.

• [Hours of work: 18h]
• [People involved: Giorgio, Akshit]

The RC Vehicle System Test Bed (RC-VSTB) is an extremely simplified version of Mimas: the OS running on the actual rover is tested on the structure of an RC car to gain confidence with the driving system, obstacle recognition and avoidance algorithm and sensors. First connections were made to connect the motors and the preexisting circuits with a Raspberry Pi 1. Several tests were performed to ensure all connections are working properly.

• [Hours of work: 8h]
• [People involved: Giorgio, Akshit]

Discussion about starting the project: the main idea we came out with is a model of a Mars Rover inspired by NASA JPL's Curiosity and Perseverance Rovers.

• [Hours of work: 3h]
• [People involved: Giorgio, Akshit]