Marvin (robot)

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Marvin (Mobile Autonomous Robot Vehicle for Indoor Navigation) is a mobile robot developed at Robotics Lab at University of Kaiserslautern, Germany. This platform consists of a differential drive, a bumper for basic operational safety, planar laser range scanners at the front and back side for obstacle detection, a belt of ultrasonic sensors for recognizing jutting edges as table tops, a webcam, another fixed laser scanner at a height of 1 m for a view free of clutter and a stereo microphone system for localization of sound sources. Its control system follows a behaviour based approach and its mapping abilities rely on a 2D geometric and topological strategy

[edit] Technical Specifications

Length: 72 cm
Width: 72 cm
Height: 120 cm
Weight: ca. 80 kg
Nutzlast: ca. 100 kg
Power Supply: 2 Blei-batteries, each 12V
Operation Time: about 3 hours
Drive: Differential drive with 2 electric motors
Max. Speed: 4,3 km/h
Steering: 2 Maxon-Motor control system, controlled through a DSP-Board
Computer: 1 onboard PC
Sensors: 2 SICK Laser scanners, Ultrasonic belt, 2 Microphones, Camera on pan-tilt unit