Mars Rover Project

Welcome to the Mars Rover project repository! This project involves designing, fabricating, and testing a Mars Rover capable of autonomous navigation and sample collection. The rover is equipped with a six-wheel drive system, a robust suspension, custom PCBs, and is controlled using the Robot Operating System (ROS).

Table of Contents

• Introduction
• Hardware Components
• Mechanical Design
• Electrical Design
• Software Design
• Installation
• Usage
• Contributors

Introduction

The Mars Rover project aims to develop a functional rover that can navigate the harsh Martian terrain, collect samples, and perform environmental analysis. This repository contains all the necessary files and instructions to replicate the project.

Hardware Components

• DC Motors:
  • Used for driving the wheels and operating the robotic arm.
  • Provide sufficient torque and speed to navigate rough terrain and perform precise movements for sample collection.
• BTS7960 Motor Drivers:
  • Control the DC motors with high current capacity.
  • Ensure proper heat dissipation and reliable motor operation.
• LiPo Battery:
  • Powers the entire rover.
  • Provides a high energy density to ensure long operational time.
• Sensors:
  • Methane, hydrogen, and ozone sensors for environmental analysis.
  • Encoder sensors for wheel position feedback and speed measurement.
  • Ultrasonic and infrared sensors for obstacle detection.

Mechanical Design

• Six-Wheel Drive with Four-Wheel Steering:
  • Ensures stability and maneuverability on uneven terrain.
  • Each wheel is powered independently, allowing for better traction and control.
• Suspension System:
  • Enables traversal over rough surfaces.
  • Absorbs shocks and maintains rover stability, reducing the risk of tipping over.
• Fabrication Techniques:
  • Components are fabricated using 3D printing and laser cutting.
  • Ensures precision, durability, and lightweight construction.

Electrical Design

• Custom PCB Design:
  • Integrates all electronic components, including sensors, motors, and the power supply.
  • Designed to handle the electrical load and provide reliable connections.
• Power Management:
  • Manages power distribution from the LiPo battery to all components.
  • Includes voltage regulators to ensure consistent and safe power supply.
• Motor Drivers:
  • BTS7960 drivers control the DC motors.
  • Provide high current capability and protect motors from overheating.

Software Design

• Robot Operating System (ROS):

  • Used for developing and deploying control software.
  • Provides a flexible framework for writing robot software.

• Control Algorithms:

  • Implemented PID control for motor speed and direction.
  • Ensures precise and smooth control of the rover’s movements.

• Sample Collection Module:

  • Programmed 5-DOF robotic arm for precise sample collection.
  • Controlled through ROS, allowing for complex manipulation tasks.

Installation

1. Clone the repository:

   git clone https://github.com/mohammad-khalifah/Mars-Rover-With-Kauda-5DOF-Using-ROS.git
   cd mars-rover-project

2. Install the necessary dependencies:

   sudo apt-get update
   sudo apt-get install ros-noetic-desktop-full

Usage

1. Launch the ROS environment:

   source /opt/ros/noetic/setup.bash
   roslaunch mars_rover_bringup mars_rover.launch

2. Control the rover using the provided scripts or remote control:

   rosrun mars_rover_control rover_control.py

Contributors

• Mohammad Khalifah - Mohammad-Khalifah