¶ 5 Specifications
¶ 5.1 Platform Overview
 |
| 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
 |
| 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
 |
| 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
 |
| External I/O Ports |
|
Data transfer
|
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 |