Publication

Abstract : While designing a compact Unmanned Ground Vehicle (UGV), it must be capable to travel through complex topography on traversing within confined spaces. In many applications, it is practically expedient that the robots adopted must be economical, hence multiple rovers shall be employed to execute a prescribed task. The cost of the rover can be economized by reducing the stature, sensors and in addition to its mechanical intricacy. Likewise in conventional tracked vehicles, here the model is equipped with a couple of chain assemblies or tracks. The tracks are steered by an internal sprocket, which is embedded on both the side of the body. The frame holds all the electrical and controller parts which also include sensors and actuators. It includes the concept of inverted pendulum for various upright configurations. The system has the ability to overcome the obstacles which also includes the steps. The hurdles that the rover could crossover is linked to the total height. During the horizontal configuration, its tallness is equal to bore of the sprocket; when the rover is in inverted structure, its tallness is allied to the length of the tread. The tallness of the rover is flexible over a wide range, and it can be altered accordingly. Adopting feedback controllers like LQR/LQT, the vehicle can transform itself on various operating modes. Mainly the angle of the chassis from vertical, angle of tread system from vertical and the angle of rotation of tread sprockets from vertical are controlled beneficial to obtain the desired mode of operation. The rover have the capability to identify steps or obstacles from the data received from the sensors like inbuilt camera, optical sensors, LIDAR, etc. The resulting platform is suitable for many applications such as patrol, search amp; rescue, mine exploration, and many other purposes