Rob-R-T0 Exploration Robot 

A  low cost robotic platform has been designed to enable research for autonomous and exploration vehicles. The robot features a Raspberry Pi 4 as the main computing element. Additionally, it includes a Terasic DE10 -nano development board that has an Intel System-on-Chip (SoC) FPGA, the Cyclone Soc V. The DE10-Nano is intended for hardware implementation and validation of robotics algorithms and some sensor data acquisition.  It has onboard, two ultrasound, a Lidar, and a camera sensor. To move the robot four 24V and 50kg*cm stall torque motors are used. They are driven by individual H-bridge circuits that can output >10A of current.  One 24V battery is used to power the computation devices and sensors, while four batteries are used to power the motors. The board runs with Raspbian OS and is ROS compatible.

Broken Maps in Hector-SLAM  

When the RPlidar node and the Hector-Slam mapping are not properly tuned, the robot loses position and the map breaks. An example of a broken map when running Hector-SLAM is shown in  Figure