Hardware
Wheelchair
The wheelchair serves as the primary platform for the autonomous mobility system. It integrates various sensors and computational units to enable autonomous navigation, teleoperation, and real-time perception.
Seat
We select a lawn mower seat that features a thick cushion and a built-in seat belt and armrest. We further mount this seat on two aluminum extrusion pieces. This design effectively transfers the weight to the platform, enabling it to support a weight capacity of up to 200 pounds.
Jetson Orin
- Installed an NVIDIA Jetson Orin module as the primary compute unit
- Configured wireless connectivity by setting up an M.2 wireless card, ensuring reliable communication with the ROS ecosystem and external controllers.
RGBD Camera
- Mounted a ZED X Camera onto the wheelchair platform, ensuring a stable and vibration-free setup.
RTK GPS
- Use an aluminum extrusion stick to elevate the GPS module antenna
- u-blox ZED-F9P RTK GPS with NTRIP corrections for centimeter-level accuracy
Powertrain
- 12 V LiFePOâ‚„ battery, motor controller, and electric motor wired over CAN
- Triple hardwired E-STOP buttons plus wireless kill-switch (ESP32 + CC1101 PCB) with < 100 ms response
