RoveQuest

Posted on by Steven McDermott

Team Name

RoveQuest

Timeline

Fall 2024 – Spring 2025

Students

  • Deep Shinglot – Computer Engineering
  • Ryan Dharmadi – Computer Engineering
  • Eduardo Ramos – Computer Engineering
  • Jacob Little – Computer Engineering

Abstract

RoveQuest is a semi-autonomous rover platform engineered for mobility, resilience, and remote operation in unpredictable and rugged environments. Built around a Raspberry Pi 4B running Ubuntu and ROS2 Iron, the system integrates advanced software with robust hardware to support coordinated, semi-autonomous navigation. Key components include a power management subsystem that ensures operational stability, a rocker-bogie suspension for terrain adaptability, and precision motor control using Roboclaws and high-torque servos. RoveQuest also features wireless communication capabilities via Bluetooth and Wi-Fi, enabling remote telemetry and manual override as needed. Designed with search-and-rescue (SAR) scenarios in mind, the system has demonstrated reliable performance and responsiveness across challenging terrains. Future iterations aim for full autonomy through integration with an aerial drone, allowing for real-time aerial reconnaissance and optimized ground traversal.

Background

Autonomous ground vehicles are increasingly essential in search-and-rescue operations, where navigation through hazardous and dynamic terrain is critical. RoveQuest was developed as a response to this need, offering a modular and adaptive solution for ground mobility in complex environments such as post-disaster zones. The rover is powered by a Raspberry Pi 4B, which serves as the central processing unit, managing real-time data and subsystem coordination through ROS2. Its rocker-bogie suspension system allows the rover to traverse uneven surfaces with minimal loss of traction, while precision motor control ensures smooth and responsive movements in confined or obstacle-rich environments. The integrated power management system supports long-term deployment by regulating battery usage across multiple components, including ten motors and essential electronics. Although currently focused on semi-autonomous operation, RoveQuest is designed with future scalability in mind. Upcoming development will focus on drone integration, improved sensor fusion, and the creation of a shared environment map, allowing the system to evolve into a fully autonomous multi-agent platform capable of high-efficiency SAR missions.

Project Requirements

  1. Computing: The Raspberry Pi 4B, running Ubuntu with the ROS2 Iron distribution, serves as the rover’s central processor. It handles real-time data processing, manages inter-subsystem communication, and supports autonomy through ROS2 nodes. This setup enables robust decision-making and responsiveness, even in unpredictable environments.
  2. Power Management System: A custom power management system ensures energy-efficient and reliable operation. It continuously monitors battery health and controls power distribution to all key components—including motors, Raspberry Pi, motor drivers, and microcontrollers—to support long-term SAR deployments without interruption.
  3. Rocker-Bogie Suspension: The rover employs a 6-wheel rocker-bogie suspension system for passive stability and superior traction across uneven terrain. This allows the rover to maintain balance and climb over debris or rough surfaces, making it ideal for disaster-response scenarios.
  4. Precision Motor Control: Equipped with Roboclaw motor controllers and high-torque servos, the rover achieves smooth propulsion and accurate maneuvering. This precision control is critical for obstacle avoidance, navigating tight corridors, and aligning the rover for tasks like object retrieval.
  5. Bluetooth/Wi-Fi Communication: Dual-mode communication capabilities allow the rover to be remotely monitored and controlled via Bluetooth and Wi-Fi. This system supports telemetry exchange, command input, and toggling between manual override and autonomous modes.
  6. Sensor Integration Framework (Planned): Though currently unimplemented, the system is designed to integrate sensors such as Lidar, gyroscopes, and speed encoders. These will provide environmental awareness and motion feedback, further enabling advanced obstacle avoidance, SLAM, and coordinated movement.
  7. Modular Structural Design: RoveQuest features a layered and modular chassis design, facilitating easy maintenance, upgrades, and subsystem isolation. Each layer (e.g., motor housing, electronics bay, sensor mounts) is physically and functionally segmented for quick access and fault isolation during field operations.
  8. Software Architecture: A ROS2-based architecture organizes the system into independent nodes for each subsystem (navigation, control, communication, power). This modularity supports scalability, parallel processing, and system robustness, allowing the rover to maintain performance even if one node fails.
  9. Drone Integration Interface (In Development): The rover includes a theoretical interface for future aerial drone collaboration. This includes TCP/IP or serial data exchange via ESP32, enabling the drone to perform reconnaissance and send optimized paths to the rover for ground-level execution.
  10. Technical Documentation and Logging System: Comprehensive documentation is maintained, including system diagrams, electrical schematics, and node maps. Additionally, ROS2-based logging tracks system states and sensor data for debugging, mission replay, and system validation, ensuring transparency and reproducibility.

Design Constraints

  1. Terrain Navigation: The rover must be capable of traversing uneven, debris-filled, or sloped terrain commonly found in SAR scenarios.
  2. Power Limitation: All components must operate efficiently on a battery-powered system, with a target runtime suitable for field operations (e.g., 1–2 hours minimum).
  3. Form Factor: The rover must remain compact and portable, allowing transport in standard rescue vehicles and easy deployment by a small team.
  4. Weight Limit: Total system weight must remain under a specified limit (e.g., 15 kg) to maintain mobility and manual handling ease.
  5. Modular Architecture: Hardware and software components should be modular for quick replacement, upgrades, and future integration with drone systems.
  6. Environmental Tolerance: Components must function reliably in outdoor conditions, including dust, light rain, and varying temperatures.
  7. Communication Protocol: Wireless modules must operate within the 2.4 GHz ISM band with minimal interference and up to 500m range in open line-of-sight.
  8. ROS2 Compatibility: All software modules must be designed within the ROS2 framework to ensure interoperability, scalability, and code reuse.
  9. Budget Constraint: Total cost must remain within a predefined budget (e.g., <$1000), using cost-effective components without compromising critical functionality.
  10. Autonomy Scalability: The system should allow future upgrades toward full autonomy and drone integration, without major redesign of the base platform.

Engineering Standards

Authentication & Encryption/Security Standards

  • ISO 27001 – Ensures secure and reliable wireless communication through recognized information security management standards.

Building Codes (ADA, County/City/Municipal, etc)

  • NFPA 70 – National Electrical Code compliance for safe electrical system design and integration.

Common Engineering Standards (IEEE, ISO, NEMA, NIST, etc)

  • IEEE 610.12-1990 – Defines software engineering terminology.
  • IEEE 12207-2008 – Governs software life cycle processes.
  • ISO/IEC 19770-2 – Manages software asset and identification standards.
  • IEEE 802.11 – Covers wireless LAN communication protocols.
  • NMEA 0183 – Defines standards for communication with GPS receivers.
  • ISO 780 – Labeling and handling for international shipping.
  • ASTM D4169 – Packaging and shipment performance testing.
  • IEEE 1937-2018 – Guidelines for unmanned aerial systems and drone communication (for future integration).

OSHA Compliance

  • OSHA 1910.147 – Lockout/tagout safety procedure for control of hazardous energy.

Programming/Web Dev Standards

  • IEEE 12207 (relisted here for relevance) – Ensures software quality across lifecycle phases, including development.

System Overview

RoveQuest is a modular autonomous rover system engineered for reliable navigation, environmental adaptability, and mission resilience in search-and-rescue (SAR) operations. Designed around a layered hardware and software architecture, the system combines a robust physical chassis, intelligent control logic, and integrated wireless communication. At its core, a Raspberry Pi 4B running Ubuntu and ROS2 (Iron Distro) acts as the primary computing platform, orchestrating real-time data handling, inter-subsystem coordination, and autonomous behavior.

The rover features a rocker-bogie suspension system, allowing it to traverse rough and uneven terrain, while precision motor controllers ensure accurate and smooth movement across complex environments. A dedicated power management system maintains energy distribution and battery health, enabling sustained field operation. Although sensor integration is currently theoretical, the architecture is designed to support components such as Lidar, gyroscopes, and wheel encoders to enhance localization and situational awareness. Wireless communication is supported via Bluetooth and Wi-Fi, enabling remote monitoring, manual control, and future drone collaboration. The modular system design ensures scalability and ease of maintenance, while its ROS2-based software architecture allows for flexible node-based deployment of navigation, control, and perception modules. As development continues, RoveQuest is set to evolve into a fully autonomous ground vehicle capable of working in tandem with aerial drones for coordinated multi-agent SAR missions.

Results

Future Work

RoveQuest successfully demonstrated robust mobility, responsive control, and reliable performance across challenging terrains. With its layered architecture and integrated sensor suite, the rover proved capable of supporting time-sensitive SAR missions in semi-autonomous mode.

Looking ahead, the end goal is full autonomy through seamless integration with a companion drone. The drone will handle aerial reconnaissance and pathfinding, transmitting optimized routes to the rover for ground-level traversal. Future work includes enhancing ROS2 coordination between the systems, improving real-time obstacle avoidance, and developing a shared environment map for coordinated decision-making. Together, the rover and drone aim to form an intelligent, adaptable duo ready for real-world rescue deployment.

Project Files

Project Charter
System Requirements Specification
Architectural Design Specification
Detailed Design Specification
Poster

References

“Mars science laboratory: Curiosity rover- nasa science,” https://science.nasa.gov/mission/msl curiosity/, [Accessed 8 Oct. 2024].

“Rocker bogie mechanism,” medium.com/manual-robotics/rocker-bogie-mechanism 9e75c84a5853, 2019, [Accessed 8 Oct. 2024].

N. JPL, “Open source rover project,” https://github.com/nasa-jpl/open-source-rover, [Accessed 8 Oct. 2024].

Tutorials.” Tutorials – ROS 2 Documentation: Iron Documentation, docs.ros.org/en/iron/Tutorials.html. [Accessed 2 Feb. 2025.]

Steven McDermott

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