Autonomous mobile ROS AI robot, JetRacer Kit B - Waveshare 26801

Vision system and image processing

The kit is equipped with an IMX219-160 camera with a resolution of 3280 × 2464 px and a wide 160° field of view. The camera is designed for use with the OpenCV library and AI algorithms, enabling functions such as:

• object tracking
• face recognition
• motion detection
• color recognition
• line tracking and contour analysis
• image calibration
• augmented reality applications

LiDAR and spatial mapping

The robot is equipped with RPLIDAR A1, enabling 360-degree scanning of the environment. LiDAR data is used for:

• environment map creation
• robot localization
• path planning
• obstacle avoidance

The system supports SLAM algorithms using encoder, IMU, and LiDAR data, including Gmapping, Hector, Karto, and Cartographer, as well as navigation based on AMCL and move_base.

Dual-controller architecture

• Main controller – Jetson Nano Dev Kit

Responsible for image processing, AI algorithms, ROS operation, mapping, navigation, speech processing, and other compute-intensive tasks. The Kit B version uses the Waveshare Jetson Nano Dev Kit with a Jetson Nano module in the eMMC version, making it more suitable for production-oriented applications.

• Secondary controller – Raspberry Pi RP2040

A dual-core microcontroller with strong real-time capabilities, responsible for motion control, motor and encoder handling, sensor data acquisition, and precise robot control. Communication between controllers is handled via USB, providing higher transmission speed than UART.

Autonomous navigation and path planning

After a target is specified, the robot automatically plans its route, avoids obstacles, and updates the environment map in real time.

The robot supports:

• single-point navigation
• multi-point patrol navigation
• mapping while navigating

Audio system and voice interaction

The kit includes two MEMS microphones and a speaker, based on a USB Audio solution. This enables:

• real-time voice transmission
• speech synthesis
• speech detection
• speech recognition
• two-way human–robot voice communication

The robot can “listen”, “understand”, and “respond” by voice, enabling projects focused on intelligent interaction.

Sensors and stabilization

An integrated 9-axis IMU sensor works together with wheel encoders and an Extended Kalman Filter (EKF) to provide accurate robot orientation estimation and stable navigation.

JetRacer uses an Ackermann-like steering structure, combining:

• front-wheel servo steering
• rear-wheel differential drive

High-power DC motors with metal gearboxes and AB-phase encoders are used, enabling:

• precise speed control (PID)
• odometry calculation
• quiet and stable operation

Power supply and safety

Integrated power supply system with cell balancing and protection against overcharge, over-discharge, overcurrent, short circuit, and reverse polarity, with voltage and current measurement and real-time parameter monitoring on the OLED display.

Responsible for image processing, AI algorithms, ROS operation, mapping, navigation, speech processing, and other compute-intensive tasks. In the Kit B version, the Waveshare Jetson Nano Dev Kit with an eMMC-based Jetson Nano module is used, making it more suitable for production-oriented applications.