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Phoenix Mobile Experimental Platform
Research Group Robotics & Process Control
Description:
Phoenix is a mobile platform for autonomous mobile robot research. Its design is a modular construction that supports the flexible use of different sensor and computer configurations.
The actual sensor configuration consists of a video camera on a pan/tilt unit, a Sick LMS200 laserscanner, and additional sonar and infrared sensors for collision avoidance. The robot's control system consists of two Pentium PCs under the realtime operating system QNX and a wireless ethernet data link to the research team's LAN.
Technical Data:
| Size: | 93 x 62 x 135 cm |
| Weight: | approx. 250 kg |
| Kinematics: | Three-wheel-vehicle Two driven rear wheels, passive front wheel Self-developed chassis |
| Motors: | 2 DC servo motors |
| Max. Velocity: | approx. 35 cm/sec |
| Batteries: | 24 V, 220 Ah (approx. 10 h of operation) |
| Control system: | 2 Pentium PCs Realtime operating system QNX |
| Data Link: | Wireless ethernet |
| Sensors: | Video camera (512x512) on pan/tilt-unit Sick LMS200 laserscanner 12 Polaroid sonar sensors 16 infrared sensors Dead-reckoning |
Last modified: 04.05.99, Joachim Weber