CAATO

Introduction

The CAATO is a small, nimble Autonomous Ground Vehicle (AGV) developed off of the LOCUST platform with more powerful and accurate motors and a patented (TBC) trolley docking mechanism. This platform will be the first-ever robot to be deployed under the Robotic middleware framework RMF 2.0 program and is developed in joint collaboration with Changi Airport.

Checkout the CAATO repository for more information: caato github

Operational WorkFlow

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Autonomy

Introduction

The autonomy of the CAATO implementation consists of two main parts: navigation stack and computer vision intelligence.

A single board computer (SBC) and sagemaker is used to achieve the two parts. Currently both are running ROS Noetic with Ubuntu 20.04 setup.

Architecture

Major components of the overall system is shown below in the figure.

  • NUC
    • Perform mapping, localization, path planninig
  • SageMaker
  • Roboteq controller
    • Perform BLDC motors control (closed loop speed control, i.e. cmd_vel)
  • Pixhawk IMU
    • Perform data fusion with odometry
    • GPS location if outdoor
  • Hokuyo LiDAR
    • To perform 270 degree laser scan by combining one front-left LIDAR and one one right-rear LIDAR
  • Ouster LiDAR (OS1-32)
    • To perform 360 degree laser scan needed to carry out mapping and localization.