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All-terrain quad wheeled terrestrial explorer rover

Veigas, Ashwini (2014) All-terrain quad wheeled terrestrial explorer rover. Masters thesis, Manipal Institute of Technology, Manipal.

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Abstract

Unstructured outdoor environments, such as the surface of planets, pose special challenges for autonomous robots. Not only must the robot navigating in such environments avoid colliding with obstacles such as rocks, but it must also avoid falling into a pit or ravine and avoid travel on terrain that would cause it to tip over. Vast areas often have open spaces where a robot might travel freely and are sparsely populated with obstacles. Robots are very important to space exploration and are being used in a variety of different ways for several important reasons. A mobile robot is an automatic machine that is capable of movement in any given environment. It is a spin-off application on earth. If you can’t explore the Moon or Mars, you can always explore the neighbourhood. This is the motivation behind this project. It’s more like a mobile earth rover. The objectives of the project are to design & develop an all-terrain rover outfitted with 4 independently steered & driven wheels, implement the cross-coupled controller (CCC) algorithm on it along with the other features, and to be able to remotely control the rover using the mobile phone network controlled via Internet Telerobotics in order to explore the various terrains on the earth's surface & to experimentally validate this system in the field with the rover. The project has been titled as an “All-Terrain Quad wheeled Terrestrial Explorer Rover”, which is being designed and implemented on the robotics platform. Robotics is the branch of technology that deals with the design, construction, operation, and application of robots as well as computer systems for their control, sensory feedback, and information processing. The mechanical platform being used here is a wheeled one; hence the name quad wheeled rover. Sensors are used on or around the device, which are able to sense the environment and give useful feedback to the device. The rover here uses an IR sensor for obstacle avoidance. A 4-wheeled rover is designed, depending on the operating environment i.e. regular and rough terrain which is the field on which the rover has been tested after the final developmental stage. The rover is remotely controlled through a wireless link and designed to navigate across challenging terrains. To tackle this difficult terrain, the rover has four independent wheels, each of which can be controlled independently, which allows the rover to move about in different ways. For this challenge, the rover has been designed, adapting and equipping it with the necessary software and hardware in order to achieve the objectives stated earlier. It can steer in the normal way like a car, or turn about a fixed point. The rover can also see where it is going using wireless video transmission devices and other sensing devices The rover has been successfully tested on the terrain and the objectives for which it was primarily designed have been achieved.

Item Type: Thesis (Masters)
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 13 Nov 2014 10:37
Last Modified: 13 Nov 2014 10:37
URI: http://eprints.manipal.edu/id/eprint/141058

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