What it does
Ariadna solves the problem of safely removing mines and in danger zones. Thanks to autonomous navigation, modular design and advanced electronics, the robot can also perform rescue tasks, such as transporting medical stretchers, minimizing risks to humans.
Your inspiration
The idea for Ariadna emerged from the need to enhance safety in conflict and disaster zones. I noticed that existing solutions are often expensive, lack versatility, or require direct human presence in dangerous areas. I aimed to create an affordable modular robot that combines precision in mine detection with quick adaptability to other tasks, like medical transport. Inspiration also came from the ELROB competitions, which motivated me to develop the robot's autonomous functions. Collaboration with PWr scientific clubs allowed me to optimize the design and electronics, while technologies like ROS2 and CAN simplified system integration.
How it works
Ariadna is a tracked robot with a modular design. Its core is an Nvidia Jetson Nano onboard computer, which processes data from sensors (IMU, GPS, Intel Realsense camera) and controls the robot's movements using ROS2. The robot features: Metal detector - 8-zone sensor connected to a Sensor Board. Manipulator - 4-axis arm with Dynamixel servos, capable of precise interaction with the environment. Mapping and navigation algorithms (navigation2 in ROS2) enable autonomus movement in challenging terrain. Modularity - ease of assembly of additional components, such as medical stretchers or an electric winch. The electronics communicate via CAN bus. BLDC motors (1.8 kW) are controlled by ODrive, ensuring high performance.
Design process
The project began with the concept of a modular sapper robot. The first prototype had basic manual control functions and a simple gripper. After field tests, tracks were added for better mobility and I started working on autonomy, integrating ROS2 and IMU/GPS sensors. Subsequent iterations focused on developemend of Ariadna own custom boards (Power Board, Sensor Board) with CAN communication to improve reliability. Meanwhile, a 3-axis manipulator was created, later replaced by a 4-axis version. Simulations in Gazebo allowed me to test navigation algorithms before implementing them in the real robot. Currently, Ariadna has a third-generation electronics system, improved software, and is being prepared for the ELROB competition, where we will test its full autonomy.
How it is different
Ariadna stands out due to its combination of low cost, modularity and advanced autonomous functions. Unlike commercial military robots, our solution is easily adaptable to civilian tasks (e.g., rescue operations). Its unique features includes: Open-source software - ROS2 and Gazebo simulations shorten development time. CAN communication, which is industrial standard, rarely used in student projects. Modularity - quick function swaps (e.g. from mine detection to stretcher transport). Thus, Ariadna serves both as a tool for sappers and a research platform for students. Galvanic isolation of electronics that protects it against interference from high-power BLDC motors.
Future plans
Next steps of Ariadna evolution includes participating in ELROB competition and further autonomy testing. My goal is to to develop a vision analysis system (AI for threat identification). Long-term, there are plans to commercialize a version for rescue services and collaborate with humanitarian organizations. Miniaturizing electronics and extending battery range are also key challenges.
Awards
Ariadna has many competition achievements: *Second place in Minesweepers (Makau, China, 2019), *First place in XChallenge (Rzeszów, Poland, 2023), *Second place in Robochallenge (Bucharest, Romania, 2022), *Third place in Robotic Tournament (Rybnik, Poland, 2023), *Third place in Robotic Tournament (Rybnik, Poland, 2022).
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