Design and Implementation of Transformable Tracked Robots

Abstract

This study aims to create a transformable tracked robot with remote autonomous navigation control to overcome the limitations of traditional robot locomotion structures. Most robot locomotion structures available today are of a single type, which affects their mobility efficiency in complex environments. To address this problem, we aim to design a transformable tracked robot that combines the advantages of wheeled and tracked structures. We will also develop the robot's design specifications and propose a transformation structure design scheme that allows it to change its movement mode according to different terrain changes in complex operating environments. We have planned three preliminary transformable modes: full track mode for crossing road obstacles and climbing environments with high and low elevation differences, quasi-four-wheel mode for fast movement on flat roads, and elevated mode for passing through water puddles and obstacles in certain depths in the form of an elevated track. This research project also aims to propose a design scheme for remote autonomous navigation control. We will develop a LabVIEW graphical control software that uses embedded systems as the core and combines various environment information from the robot's built-in ultrasonic sensors, lidar, encoders, webcam, thermal camera, and wireless IP routers to write signal acquisition, remote control, and autonomous navigation control programs. To solve the problem of autonomous navigation return when remote control signals are lost, we will propose a design scheme that allows the tracked robot to automatically return to a location where it can receive remote control signals.