CollaBots: Modular Swarm Robotics
This project focuses on the advanced electronics and communication architecture for a modular robotic swarm designed to interconnect and overcome complex obstacles. This 3D design, based on research and existing technologies, utilizes an ESP32-WROOM-32 microcontroller to manage real-time data from Time-of-Flight (ToF) sensors and IMUs, ensuring precise navigation and structural alignment. The custom PCB, meticulously designed in KiCad and modeled/rendered in Blender, features a triple-rail power system with high-efficiency DC-DC converters to drive geared motors and logic circuits. Developed in collaboration with Fintan Lyons, Islam Mohamed, Jack Clifford, and Mohammad Mir, this system enables individual vehicular units to link into a "snake-like" configuration, sharing power and control data across the entire modular chain.
#d models of the PCBs. Designed in Kicad.
Final Robot Unit (3D pritned with full electronics)
3 unit system, with full interconnection lock.
Electronics schematics, more info here:
https://github.com/HarithSami/Collabots-Schematics
PCBS with components (top left)
PCBS without components (top right)
PCBS 3D models from KiCad (Bottom)
Main PCBs (split into 2 due to small footprint)
TOF holder PCB
Motor Current analysis.
