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Overview

The QBot 2e is built on a two wheel differential drive platform with built-in DC motors and sensors. It utilizes a wireless embedded computer to command motor velocity and measure the onboard sensors including bump, cliff, and RGBD. The embedded system also provides several I/O channels for interfacing additional digital and analog sensors. The integrated RGB camera and depth sensor are capable of capturing RGB image data and 11-bit depth data and transmitting the data at a high frame rate. The QBot 2e operates using a host-target structure. Controllers are developed on the ground station host using QUARC for Simulink®. Real-time code is downloaded from the host to the QBot 2e embedded computer and allows users to run, modify and monitor code remotely from the host. The controllers on-board the QBot 2e are open-architecture and fully modifiable.

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Wide range of sensors included (bump sensor, wheel drop sensor, cliff sensor, 3-axis gyroscope, RGBD sensor)
Customizable with off-the-shelf sensors supported by QUARC, including digital (SPI, UART, I2C) and analog sensors
Low power on-board computer with Linux operating system for high-level, real-time decision making and task execution
Mounting holes
Adjustable camera
Easy integration of additional elements of the Quanser Autonomous Vehicle Research Studio
Curriculum with independent exercises for robotics and mechatronics courses included

Platform Kobuki mobile base by Yujin Robot
Number of wheels 2
QBot 2e diameter 35 cm
QBot 2e height (with Kinect mounted) 27 cm
Maximum battery life 3 hours
Maximum linear speed 0.7 m/s
Available payload app. 4.5 kg
Sensors included 3 digital bumper sensors
2 digital wheel drop sensors
3 analog and digital cliff sensors
3-axis gyroscope
2 wheel encoder inputs
2 wheel speed outputs
2 programmable LED outputs
4 digital power enable outputs
2 analog motor current inputs
3 digital buttons
2 overcurrent sensors
1 Z-axis angle measurement (heading)
1 battery voltage sensor
1 Kinect RGBD sensor
Additional I/O channels available 28 reconfigurable digital I/O channels
2 PWM output channels
1 SPI bus channel
1 UART serial port (interface 3.3 V serial device)
1 I²C serial bus channel
4 USB 2.0 host ports
1 Gigabit Ethernet
1 5.0 VDC
1 3.3 VDC
1 MIPI CSI camera port
1 MIPI DSI display port for touch screen
On-board computer Raspberry Pi with integrated WiFi
QUARC maximum sample rate 1,000 Hz
Camera resolution 640 x 480
Depth sensing 11 bit
Depth sensor range 0.5 m – 6 m

The courseware laboratory exercises are organized in a set of independent modules, allowing professors to select and adapt them easily for an existing course, or build a new course.

  • Differential drive kinematics
  • Forward and inverse kinematics
  • Dead reckoning and odometric localization
  • Path planning and obstacle avoidance
  • 2D mapping and occupancy grid map
  • Image acquisition, processing and reasoning
  • Localization and mapping
  • High-level control architecture of mobile robots
  • Vision-guided vehicle control

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