Berlin-based mechanical engineer Patrick Hallek has created an excellent omnidirectional self-driving robot known as Forki, which is designed around the Raspberry Pi, sensors, and a set of Mecanum wheels that can turn on a dime.
Under the hood, Forki is outfitted with four 60mm Mecanum wheels, four 12V DC metal gear reducer motors (130 RPM), a pair of L298N Dual H Bridge DC stepper motor driver modules, a 72.V battery, and an LM2596 DC-DC converter. Driving the robot is a Raspberry Pi 3 B/B+, four HC-SR04 ultrasonic sensors, and four Decawave DWM1001 ultra-wideband sensors, all packed within a 3D-printed shell.
