1. Sensor and Camera Systems
- Central to B.A.R.M.'s navigation are its diverse sensors and cameras. Stereo cameras offer long-range 3D recognition and mapping, providing detailed environmental awareness.
- HD color cameras are employed for facial recognition, path recognition, and backup obstacle avoidance, working in tandem with 2D LIDAR for efficient sensor fusion.
- The 2D LIDAR system offers a cost-effective, long-range solution for detecting obstacles.
- Additionally, monochromatic cameras ensure the robot's functionality under extreme lighting conditions.
- Finally, depth of field/3D LIDAR/Time of Flight cameras to deliver a detailed 3D view for object detection and mapping, particularly useful at night.
2. Navigation Principles
- B.A.R.M.'s movement is guided by several key principles. The main being a Real Time Kinetic (RTK) - enabled GNSS chip which delivers centimeter-level accuracy for precise location tracking.
- An Inertial Measurement Unit (IMU) further enhances navigation by measuring the robot’s orientation, velocity, and gravitational forces, ensuring accurate and stable movement.
- This system is cross-references with a Cartesian plane system which provides a basic estimation of the robot’s position by calculating the distance traveled from the origin, combined with the robot's orientation.
3. Mapping and Road System
- To navigate effectively, B.A.R.M. integrates both Cartesian coordinates and GNSS data to mark important locations such as the charging station, patient houses, and other landmarks.
- During deployment, a human manually defines the road system using black/magnetic tape. The robot follows this tape to establish the road system in its memory, creating a comprehensive map of traversable paths within the village.
4. Pathfinding and Obstacle Avoidance
- Once the road system is mapped, B.A.R.M. autonomously determines the shortest path to its destination.
- If the primary path is obstructed, the robot registers these blocked areas and seeks alternative routes. Its advanced camera system detects obstacles and navigates around them, utilizing its variety of sensors and cameras to understand its environment to ensure safe and efficient movement.
5. Precision and Mobility
- The RTK-enabled GNSS system ensures high precision in B.A.R.M.’s movements, allowing it to locate and enter homes with ease, thus accurately delivering medical services.
- Additionally, B.A.R.M. is equipped with caterpillar tracks to handle rough and muddy terrains, enabling it to reach remote and challenging locations that would otherwise be inaccessible.
