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Type: Robotic Community 
Built by: Henry Dankert 
Cost: unknown 
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Comments and General Information:
D001 (project title) is a circular, three wheeled autonomous vehicle, which may be modularly expanded. A variety of sensors, including touch sensors, infrared proximity and ambient light sensors is implemented. Wireless remote control to a PC is available through a radio modem. D001 was developed as a platform for experimenting with robot control architectures.

Components and Parts:

  • mech. dimensions: 30cm diameter, 12cm height
  • processor board: intel 80C51GB (12,288MHz), 32K RAM, 32K EPROM
  • differential drive with 2 gear motors, max. 1km/h
  • collision detection by micro switches, stimulated from a plexiglas shield
  • collision avoidance via IR reflex sensors (measurement of ambient light at the same time)
  • speed regulation and odometry using wheel encoders
  • bidirectional connection D001 - PC via radio modem (BIM, 433MHz) or RS232
  • 2 lead-gel batteries 12V/1,2Ah allows 2...24h autonomy






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