OpenScout V1.2 (Group Project)

My role on this project: Robotics / Embedded Systems Engineer

Project Overview

Showcase Video

Achievements

• Implemented a lightweight TCP/JSON bridge on the Arduino GIGA R1 WiFi enabling ROS 2 Twist message compatibility without Micro-ROS or rosserial
• Deployed a Dockerized Python ROS 2 bridge that subscribes to Twist messages, converts them to JSON, and streams commands to the robot over TCP
• Implemented FreeRTOS-based concurrent task management with dedicated tasks for motor control, WiFi, TCP server, HC-12, and serial communication
• Designed task priority structure ensuring motor control preempts all other tasks for safe and deterministic operation
• Implemented HC-12 wireless communication over 433MHz serial between Arduino Uno transmitter and GIGA receiver, achieving approximately 100m range in open space
• Designed and 3D printed a custom remote control enclosure housing the Arduino Uno, HC-12 module, 4x4 keypad, and emergency stop membrane switch
• Emergency stop response time measured at mean 12ms from switch press to full motor shutdown
• Implemented last-command-wins arbitration across all three control interfaces enabling seamless override and smooth handover without mode switching
• Validated seamless control transitions with delays not exceeding 20ms across HC-12, USB serial, and ROS 2 interfaces
• Integrated four HC-SR04 ultrasonic sensors with automatic collision prevention, achieving 100% detection rate for large objects and 94% for medium objects
• Safety interlock average reaction time of 185ms with zero false positives across 200 stationary trials
• Supported chassis assembly using 20x20 aluminium extrusion with angle brackets and cast corner connectors
• Assisted with electrical wiring including dual L298N motor drivers, ultrasonic sensors, buzzer, and LED strip controlled via MOSFETs
• Implemented differential drive kinematics mapping ROS 2 linear and angular velocity to individual wheel PWM commands, shared across all control interfaces