Autonomous robot prototypes

At Analytical Robotics, I helped develop working prototypes for a multi-robot system. The work covered the autonomy software (localisation, perception, planning and control) alongside the electronics and mechanical changes needed to make it work on real hardware.

The robots brought together encoders, sensors, power systems, motor drivers, mechanical parts, and communications. Much of the work was getting those pieces to behave reliably together.

First version

The first platform proved the basic architecture: stepper motors for movement, time-of-flight sensors for proximity and Decawave UWB boards for localisation. Its open frame kept every system reachable while the design was still changing.

Second version

The second generation moved to a larger, purpose-cut aluminium frame and four 250 W DC motors. That gave more space, power and robustness, but cable routing, access, component placement and weight all started to matter more.

I used breadboards while individual components were still being tested. As the design settled, the wiring moved toward clearer groups, stronger connections, and components positioned so they could still be reached and replaced.

The system brought together motor drivers, an RS-485 interface for AMT shaft encoders, a four-channel DAC, a Teensy 4.1, and an NVIDIA Jetson Nano. That mix made the robot a useful test bed for both low-level control and higher-level autonomy.

• Leaving the electronics accessible made early changes much easier.
• Labelling and grouping the wiring saved time when something failed.
• A mechanical change often needed a matching change in software or electronics.

Testing several robots on the same task introduced another set of problems: relative position, timing, repeatability, collision avoidance, load handling, and recovery when one unit behaved differently from the rest.

These were development platforms rather than finished products. They gave the team something concrete to test, change, and use in early customer conversations.