Hardware Architecture
Overview of Pangolin AT-1's hardware system — VCU, motor controllers, sensors, and communication modules.
Pangolin AT-1's hardware architecture is built on a fully self-developed control stack, ensuring tight integration and maximum reliability.
System Components
Chassis Execution Unit
- Four-wheel drive chassis with independent floating suspension
- Brushless DC drive motors with high-efficiency reduction gearboxes
- Electronic braking system with automatic parking brake engagement on power-off
- Off-road anti-slip tires with reinforced sidewalls
Core Control Unit
VCU (Vehicle Control Unit) — Self-Developed
The VCU is the brain of the vehicle, responsible for:
- Power distribution and torque vectoring across all four wheels
- Real-time chassis actuator command execution
- Multi-sensor data fusion and preprocessing
- Navigation command interpretation and motion control
- Low-latency response (< 5 ms control loop)
Motor Controllers — Self-Developed
Proprietary multi-channel motor drivers provide:
- Independent per-wheel speed and torque control
- Smooth acceleration and deceleration profiles
- Regenerative braking energy recovery
- Over-current, over-temperature, and stall protection
- Compatibility with multiple motor models for different payload classes
BMS (Battery Management System)
Industrial-grade lithium iron phosphate (LiFePO4) battery pack:
- Cell-level voltage and temperature monitoring
- State of charge (SOC) and state of health (SOH) estimation
- Charge/discharge current limiting and short-circuit protection
- Cell balancing for extended pack lifespan
Perception & Positioning Unit
| Sensor | Function | Key Specs |
|---|---|---|
| 3D LiDAR | Primary obstacle detection & mapping | 360° H-FOV, up to 30 m range |
| Depth Camera | Close-range & low obstacle detection | RGB-D, glass and overhang detection |
| RTK Module | Outdoor absolute positioning | Centimeter-level accuracy |
| IMU | Inertial measurement | 6-axis (accel, gyro) |
Communication & Interface Unit
- Onboard Industrial Computer: Runs ROS 2 navigation stack
- Wi-Fi / Bluetooth: Primary short-range communication
- 4G (Optional): Long-range telemetry and remote monitoring
- Ethernet: Wired connection for high-bandwidth data transfer
- CAN Bus: Sensor and actuator network
- USB 3.0: Peripheral and storage connectivity
- Status Indicators: Visual system state at a glance
- Emergency Stop: Physical and wireless E-stop with immediate motor cut-off