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oxer is an autonomous robotic platform very similar to a conventional vehicle due to its ackerman steering design, and independent suspension. The project initially started as a platform to move material from one building to another but has since been repurposed as a test platform for new research performed at Linlab at Ontario Tech University.

At only 1.2 m x 0.8 m (46” x 30”), the platform can be both an indoor and outdoor vehicle. It boasts a sensor suite that will enable autonomy in the near future. These include, 6 cameras, four of which are assembled together with a 2D lidar in a craftly-named package called the lighthouse. There are also 8 ultrasonics, an inertial measurement unit (IMU), a GPS module and many more. A 2.35kWh battery pack has also been designed internally to power the vehicle.

The Lighthouse consisting of 4 cameras and a 2D Lidar
The Lighthouse consisting of 4 cameras and a 2D Lidar

With its 4 independent wheels, it can comfortably hold as much as an average human being (75 kg). Four independent wheels also allow for 3 different drive configurations, front wheel, rear wheel and all-wheel drive.

Vehicle Wheel Assembly

Due to space restrictions, hub motors were used and in doing so, a Five-link suspension design was implemented on both the front and rear wheels to ensure proper handling.

This work is still a work in progress, but I will update it periodically.

Boxer on the move