Development of a Wheeled Robotic Rover in Rough Terrains

Author

Tao, Jianguo ; Deng, Zongquan ; Fang, Haitao ; Gao, Haibo ; Yu, Xinyi

Author_Institution

Sch. of Mech. & Electr. Eng., Harbin Inst. of Technol.

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9272

Lastpage

9276

Abstract

Robotic rovers are mobile robots to perform challenging tasks in unstructured terrain. In this paper a six-wheeled robotic rover was developed with mobility in rough terrain. The rover consists of three configuration segments with a pair of cylinder-conical motorized wheels, joined together by two articulated suspensions with three degree-of-freedom. The two articulated suspensions will improve the rover mobility maneuver in different terrains by passive or active suspension configurations. Different locomotion modes of the rover are discussed based on terrain conditions, and some simulations about those models are shown. A control system of the rover based on combination of teleoperation and autonomous locomotion is described. Some experiments testify the rover excellent mobility in rough terrains and strong obstacle-overcoming capability

Keywords

collision avoidance; mobile robots; motion control; suspensions (mechanical components); telerobotics; wheels; articulated suspension; autonomous locomotion; cylinder-conical motorized wheels; locomotion modes; mobile robots; rough terrains; rover mobility maneuver; teleoperation; wheeled robotic rover; Automation; Control systems; Intelligent control; Iron; Mobile robots; Suspensions; Testing; Wheels; articulated suspension; cylinder-conical wheels; locomotion model; robotic rover;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713795

Filename

1713795