We have decided to continue with Bentley but with some changes. The omnidirectional base has been replaced with an old rover 5 base. I had laying around the main advantage is the wheel encoders. We added a laser scanner above the raspberry pi for localization. And some of the servos have been replaced with better ones. with the new lipo battery, the run time is over 5 hours next is calibrating the drive system and localization.
