Automated Rocker Rover for Terrain Surface Surveillance

Abstract

The methodology used in the Mars exploration and curiosity rover by Mars Science Laboratory is rocker bogie. The term rocker derives from the suspension system with large forward leg on each side of the vehicle chassis on either side which exhibits automated wheel movement, henceforth when one side of the vehicle rocker goes up, the other side goes down and maintain an average pitch level. Earlier research has envisaged that the Rocker-Rovers are much suitable for conducting scientific experiments like travelling to many meters to tens of kilometres. However, the recent mobility designs are complex, using many wheels or legs. Moreover, such rocker bogies can achieve only minimum distance transverse on field like agriculture land, rough land, inclined, stairs and obstacle surfaces which concludes that greater mobility experiments need to be conducted. There are most cases noted that mechanical failures were caused due to harsh environment. Hence, for surveillance in rough terrains, a robust design of rover is required. This paper focused on development of an efficient high mobility suspension system that is capable of travelling through rough terrain using a four wheeled rover. The primary mechanical feature of the rocker bogie design is arrived by using only two motors for mobility and drive line easiness. Motors are located inside the body for increased reliability and efficiency, while considering the thermal variation to be minimum. Increased stability requires both front wheels to be climb first, put forth the necessity of four wheels for driving the rover. The Rocker-Rover suspension system has a vigorous capability to overcome the uneven terrain because of its equal distribution of the pressure over its six wheels. Moreover, this article has implemented a rover with TSM (Total Surveillance Manager) which is an intelligent surveillance and security robot system, designed for monitoring behaviours and activities in the region of interest. The proposed prototype utilizes multiple types of surveillance devices including robots, CCTV cameras, and sensors