Abstract
This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.
Highlights
This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion
Differential drive or differential steering is the simplest locomotion system encountered in a mobile robot
The mobile robot presented in this paper has a differential steering locomotion for classic wheel configuration so the below equations can be used for a four-wheel drive mobile platform
Summary
Mobile robots are complex mechatronic autonomous systems characterized by combinations of devices equipped with servo motors and sensors that can operate in a realworld or working environment. Those that move on tracks or wheels with tires are increasingly used for the execution of special works with a high degree of danger to the human operator, among which are: handling and neutralization of unexploded projectile; the execution of some corridors through the minefields; search of vehicles, trains, aircraft and buildings, followed by the tracing of explosive devices discovered in these vehicles [1,2,3,4]. One important problem for mobile robots is collision avoidance with fixed or mobile obstacles (e.g.: other mobile robots) in the robot's workspace. This can be done by several methods.
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