ATMOS (Atmospheric & Terrain Monitoring Operating System) is a remote-controlled rover designed for search-and-rescue operations in post-disaster environments. It navigates hazardous terrain to reach survivors in areas inaccessible to human first responders.
Built to meet strict competition rules (
- Modular Design: Modular chassis and isolated electronic systems for quick field repairs.
- High-Torque Obstacle Clearance: Front lifters driven by dual 30 RPM gear motors to clear physical debris.
- Long-Range Control: Peer-to-peer ESP-NOW protocol supporting up to ~250m wireless control range without external directional antennas.
- Toolless Assembly: Fully 3D-printed interlocking chassis components for toolless maintenance.
Communication between the Remote Controller and ATMOS relies on low-latency bidirectional ESP-NOW messaging over Wi-Fi Channel 6:
- Control Telemetry: The remote reads dual analog joysticks via an ADS1015 I2C ADC, maps positional data into motor drive states (
FWD,BWD,LEFT,RIGHT) and lifter positions, and broadcasts framed payloads (M:...) every 50ms. - Rover Execution: ATMOS parses control packets asynchronously in its main execution loop, updates motor driver direction states, and applies PWM speed regulation.
- Environmental Telemetry: ATMOS reads the MQ-135 gas sensor every 200ms and broadcasts voltage data back (
G:...). The remote parses incoming gas readings and updates its SH1106 OLED display asynchronously.
| Component | Specifications / Model | Quantity | Purpose |
|---|---|---|---|
| Microcontroller | ESP32-WROOM-32 | 2 | Primary processing & wireless transceiver |
| Drive Motors | 12V DC Gear Motor (200 RPM) | 4 | Main 4WD drivetrain |
| Lifter Motors | 12V DC Gear Motor (30 RPM) | 2 | High-torque front obstacle clearance |
| Rover Power | 3S LiPo Battery (11.1V - 12.6V) | 1 | Drivetrain & high-power supply |
| Remote Power | 18650 Li-ion Cell (3.7V) | 1 | Logic & remote control power |
| Motor Drivers | L293D Dual H-Bridge IC | 2 | Drivetrain & lifter direction control |
| Voltage Regulator | LM2596 DC-DC Buck Converter | 1 | Step-down regulation for ESP32 & logic |
| External ADC | ADS1015 / ADS1115 (I2C) | 1 | Precision multi-channel joystick sampling |
| Display | 1.3" SH1106 OLED (I2C) | 1 | Real-time telemetry dashboard |
| Joysticks | Dual-Axis Analog Thumbsticks | 2 | Drive & lifter control input |
| Gas Sensor | MQ-135 Air Quality Module | 1 | Hazardous gas & voltage detection |
| Hardware | Custom PCBs, XT60/18650 Connectors, Switches | — | Power distribution & structural routing |
Module Layout
System Circuit Diagram
Module Layout
System Circuit Diagram
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Size Restrictions: Constrained to
$21 \times 23 \times 14\text{ cm}$ to meet competition specifications. - Weight-to-Power Ratio: Relatively heavy (~3 kg total mass).
- Payload Capacity: No dedicated compartment for emergency medical supplies.
- All-Terrain Wheel Upgrade: Implement treaded tires or rocker-bogie suspension for rougher terrain.
- Medical Payload Bay: Integrate a servo-driven drop compartment for emergency first-aid kits.
- First-Person Video Feed: Integrate a low-latency video transmission system.