Swerve Drive Autonomous Vacuum Robot

Mapping and Planning

We are currently prototyping mapping and coverage planning in a () We use LiDAR-based SLAM for real-time map generation and A* search for efficient path planning. These components will later be integrated to enable full autonomous coverage planning.

Click the image to watch the full demo on YouTube.

Swerve Chassis CAD

Swerve Module CAD

Drive Specification

• wheel radius: 1.5 inch
• stage 1 gear ratio (spur): 1.7 : 1 = 34T : 20T
• stage 2 gear ratio (bevel): 3 : 1 = 48T : 16T
• Motor rpm: 6480 rpm at 24v
• wheel circumference: 9.425 inch
• drive free speed: 6480 rpm * 9.425 inch / 60 = 1017.9 inch/s = 25.855 m/s (unloaded)
• drive speed after gear reduction: 25.855 m/s / 1.7 / 3 = 5.07 m/s

Steer Specification

• stage 1 gear ratio (spur): 3 : 1 = 48T : 16T
• stage 2 gear ratio (belt): 4 : 1 = 72T : 18T
• steer speed after gear reduction: 6480 rpm / 60 / 3 / 4 = 9 rps = 3240 degrees/s

Hardware List

• 8 x N5065S 270kV BLDC motor
• 8 x V5 80A ESC 3-6S
• 1 x ODrive S1 single motor driver
• 1 x MPU-6050 IMU
• 1 x battery
• 1 x Rasberry Pi 5
• 1 x Esp32