Design and Realization of UGV Robot with Combined of Geared Wheel and Walked Mechanism for Uncertain Terrain in Volcanic Observation

摘要

This paper focuses on the manufacture of mobile robots for volcanic observation. The robot moves with a semi-autonomous system, which use a remote, IMU sensor and lidar/ultrasonic sensor to assist the navigation. A new mechanical model incorporating the system and crawling is proposed to improve mobility in irregular areas of the volcano. And the proposed control method is behavior-based control, which shows that the IMU sensor and lidar/ultrasonic sensor are able to assist the robot's navigation to get past obstacles and the robot's initial destination, even if it is given a disturbance to change direction. With the new mechanical model the robot can pass through sandy terrain and other ground conditions with ease.