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. The wheelchair can successfully carry payload over 80KG and run at 1m/s.
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.
Footrest
We constructed the footrest using nine aluminum extrusions, securely mounted onto the wheelchair platform to enhance structural rigidity and overall durability.
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.
Dual Antenna RTK-GPS
- Two Antenna RTK-GPS are mounted on the wheelchair platform for better stability
Powertrain
- 12 V LiFePO₄ 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
Subsystem Diagram
