¶ 5 Specifications
¶ 5.1 Platform Overview
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| ANT1 Overview |
¶ Mechanical
| Dimensions | 600 x 400 x 146 mm (L x W x H) |
| Platform Weight | 18 kg ± 1-4 kg |
| Maximum Payload | Up to 60 kg |
| Locomotion Type | Holonomic omnidirectional drive |
| Wheel Type | 100 mm holonomic wheels |
¶ Drive train
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| Motor of ANT1 |
| Maximum Speed | Up to 2.5 m/s |
| Wheel Type | 100 mm holonomic wheels |
| Wheel Dimensions | Ø100 × 54 mm |
| Locomotion Type | Holonomic omnidirectional drive |
| Motors | 4 × BLDC brushless gear motors |
| Motor Torque | 4 × 10 Nm |
¶ Power System & Drive System
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| DC Charging Port |
| Battery type | 24V LiFePO₄ |
| Range | Up to 10 km |
| Operating time | ~6–10 h nominal use |
| 3 h continuous drive | |
| 12 h standby mode | |
| Charging Time | ~2–3 h (20-80%) |
| 3.5h (0-100%) | |
| Capacity | 20Ah |
¶ Compute & Software
| Computer | Embedded processor |
| Software | Native ROS 2 with DDS communication architecture |
| Web-based control interface |
¶ Connectivity
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| External I/O Ports |
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Data transfer
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Gigabit Ethernet / PoE+ |
| USB 3.0 | |
| Wireless | Optional WiFi / 5G modules |
| Wi-Fi 6: 2.4 GHz 802.11 b/g/n/ax, 5 GHz 802.11 a/n/ac/ax | |
| Bluetooth 5.2 |
¶ Safety & Environmental
| Operating Temperature: | -10°C to +60°C (when operational) |
| 0°C to 40°C (when charging) | |
| Safety Mechanism | Emergency stop |
| Status Indicator | RGB Status LED (System state indication) |
¶ 5.2 Sensors
¶ Environment Perception
LiDAR
| Type | 2D scanning LiDAR |
| Quantity | 1 or 4 |
| Function | Environment mapping and obstacle detection |
| Coverage | Full 360° environmental perception |
| Mounting | Center-mounted or corner-mounted configuration |
| Scan Range | 0.5 m ～ 10m |
¶ Motion & State Estimation
IMU (Inertial Measurement Unit)
| Type | 6-axis IMU (accelerometer + gyroscope) |
| Quantity | 1 |
| Function | Orientation, acceleration, and angular velocity measurement |
| Role | Used for state estimation and sensor fusion (EKF) |
Wheel Encoders
| Type | Incremental rotary encoders |
| Quantity | 4 (one per motor) |
| Function | Wheel speed and rotation measurement |
| Role | Used for odometry estimation and motion tracking |
¶ System Monitoring
| Motor Monitoring | Motor temperature sensor |
| Motor thermal protection system | |
| Battery Monitoring | Battery voltage sensor |
| Battery current sensor | |
| Battery Health monitoring system |
¶ 5.3 Odom Calibration
We performed odometry calibration of ANT1 using an OptiTrack system. The position and rotation of ANT1 were measured with OptiTrack and used as ground truth. The odometry parameters were then adjusted until the odometry position matched the OptiTrack measurements.
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