Abstract
This paper presents the design and development of the CANOE mobile robot, an automated platform designed for transport in controlled industrial environments. The robot utilizes a differential traction system known for its high maneuverability and is powered by two 350W brushless motors, integrated with an advanced suspension system capable of handling minor obstacles up to 20 mm. For precise navigation, the robot is equipped with a SICK TIM 510 LiDAR sensor and a mini-PC running ROS 2 (Humble Hawksbill), an open-source platform that facilitates sensor integration and dynamic control.
Accurate movement is ensured by encoders mounted on both the motorized wheels and independent “dead wheels,” eliminating the effects of slippage. The robust, H-shaped chassis provides stability, while modular PLA panels, produced via 3D printing, protect the internal components and allow for easy assembly and maintenance. Power is supplied by a custom-built battery pack with 18650 cells and a Battery Management System (BMS) that optimizes performance and ensures safe operation.
By incorporating 3D-printed components and open-source software, CANOE offers an affordable and scalable solution that reduces initial and maintenance costs. This modular and automated platform provides a viable alternative for material handling, addressing the challenges of traditional AGV systems and enabling the adoption of automated transport technologies across various industrial sectors.