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Autonomous Ackermann

sachu018·Autonomous_Ackermann·Hardware_KiCad/kicad_setup.kicad_sch

Autonomous Ackermann

About the Autonomous Ackermann PCB

Autonomous Ackermann is an open source STM32 PCB design by sachu018, published on GitHub. It is a board, with 97 components from 36 distinct parts.

Its main chip is the STM32F411CEUx, from the STM32 family. Other key parts include the PC817, CY_Controller_48V, MCP4725, HiLink_48V_5V and TLP250. By type, the board carries 47 resistors, 26 ICs, 4 modules, 2 transistors, 2 connectors and 2 switches.

It belongs with the robotics & motion designs in this gallery.

From the project

Agricultural rover: STM32 closed-loop Ackermann steering + Raspberry Pi 5 autonomous companion computer

Modern precision agriculture relies on autonomous unmanned ground vehicles (UGVs) to execute labour-intensive field tasks such as row monitoring, precision spraying, and selective weeding.

This repository houses the complete electrical architecture, bare-metal C firmware, PCB design files, and Python autonomy stack developed to transform a legacy, open-loop BeagleBone Black differential-drive rover into a distributed, closed-loop STM32F411 + Raspberry Pi 5 Ackermann-steering autonomous agricultural rover.

Main components on the Autonomous Ackermann

PC817CY_Controller_48VMCP4725HiLink_48V_5VTLP250HiLink_48V_12VLevel ShifterFS_IA10BADS1115IDGSSTM32F411CEUx

Autonomous Ackermann bill of materials (BOM)

97 components, 36 distinct parts.

QtyPartRefs
8
PC817
U1, U2, U7, U9, U16, U17, U18, U19
2
CY_Controller_48V
U3, U8
4
MCP4725
U4, U5, U14, U36
1
HiLink_48V_5V
U6
2
TLP250
U10, U13
1
HiLink_48V_5V
U11
1
HiLink_48V_12V
U12
4
Level Shifter
U15, U20, U22, U23
1
FS_IA10B
U21
1
ADS1115IDGS
U24
1
STM32F411CEUx
U25
2
BLDC_3PH_HALL
M2, M3
1
BEAGLEBONEBLACK
M4
1
DC Contactor
M5
2
IRF540N
Q1, Q2
1
48V to 5V Non_isolated supply
J1
1
Raspberry_Pi_5(External)
J2
2
C
0.1uf, 0.1uf1
2
C_Polarized
47uf, 47uf2
1
EV_48V_12V
48V_to_12V
Show 16 more
QtyPartRefs
1
Battery Charger 15s
BC1
1
48V
BT1
1
H_bridge_driver
J_MD10C
1
Left_Feedback
RV1
1
Right_feedback
RV2
1
FS-iA10B
RX1
2
BATTERY ISOLATOR SWITCH
SW1, SW2
2
SR100MDD
D1, D2
1
100uf
C4
10
470
R1, R2, R3, R7, R8, R13, R18, R19 +2
2
10
R4, R14
20
10K
R5, R6, R11, R12, R15, R16, R17, R20 +12
10
4.7k
R9, R10, R31, R32, R33, R34, R48, R49 +2
2
1k
R27, R35
2
2k
R28, R36
1
10K_Pull_up
R37

Autonomous Ackermann design files

The KiCad project lives in the sachu018/Autonomous_Ackermann repository on GitHub; these links point at the commit this page was built from.

Autonomous Ackermann: common questions

What microcontroller does the Autonomous Ackermann use?

The Autonomous Ackermann is built around the STM32F411CEUx, from the STM32 family.

How many components are on the Autonomous Ackermann?

97 components, from 36 distinct parts. The full bill of materials is listed on this page.

Where can I download the Autonomous Ackermann design files?

From the sachu018/Autonomous_Ackermann repository on GitHub, which has the schematic; the links under Design files point to each one.

Can I use the Autonomous Ackermann design in my own project?

The repository has no license, so all rights stay with sachu018. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the Autonomous Ackermann without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug STM32 firmware against it before you order a PCB.

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