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|Target Environment||Locomotion Method|
|Outdoors, all terrain||Treads|
|Sensors / Input Devices||Actuators / Output Devices|
IR range finders
75KHz ultrasonic range finder
|2 540 motors for main drive
DC motor for turret
LED lights (for camera)
GSM SMS messager
|Control Method||Power Source|
|CPU Type||Operating System|
|Time to build||Cost to build|
|approx a year||More than 2000 euro|
|URL for more information|
|As any esteeming itself robot, it has a name: M.A.R.S. (Mobile Alarm Robotic System). It is a fully autonomous self-charging vehicle. Its main purpose: fun,
education, and new algorithms design. Its secondary purpose: to guard a predefined area (currently up to 18x18 meters) in joined forces with a Base unit (on-wall user control panel with keypad, LCD, and some contact sensors like doors and windows) and, optionally, a PC, performing external video
monitoring (two IR cameras + Euresys frame grabber).
Once the system set-up for guarding, all the three units intercommunicate on 432 MHz without human being involved. The system raises sound/light alarm and sends calls/SMS via GSM module in case of intruder appearance in a
The mobile part, the robot, is made based on Tamiyas Leopard 1:16 tank model. Thus, its base is very expensive but is very mechanically neat, too. Its propelled by 2 540 motors plus one smaller motor for its head (turret). The threads provide a high level of mobility in a space-limited environment, like a narrow corridor. 8 x 5000maH NiMH batteries or the external Charging Station powers the robot, depending on mode. The coupling construction on its rear allows the robot to connect itself to a charging station automatically, if needed. The motors, and power management is controlled by AT89S8252 micro controller, placed in the tanks hull, together with all the power circuitry. The robots head contains a main brain (Am186ER 48 MHz controller with 1M of RAM, 256 Flash, and 512M Flash Card) plus all the necessary interfaces to camera, rangefinders etc on the same board.
Running time on depends on mode:
Charging time: 10 hours.