Omnidirectional All-Terrain Screw-Driven Robot Design, Modeling, and Application in Humanitarian Demining*

摘要

In this paper, we present a screw-propelled omnidirectional mobile robot with the ability to navigate on a variety of terrains. The robot design, kinematic and inverse-kinematic models, and testing on different terrains are presented. In the end it was determined that the robot could operate on most terrains in any direction. To show the potential for the robot in field applications, the robot was used in a simulated humanitarian demining scenario. The robot coupled with a mine detection sensor showed promise for this use.