Mobility enhancements to the Scout robot platform

摘要

When a distributed robotic system is assigned to perform reconnaissance or surveillance, restrictions inherent to the design of an individual robot limit the system's performance in certain environments. Finding an ideal portable robotic platform capable of deploying and returning information in spatially restrictive areas is not a simple task. The Scout robot, developed at the University of Minnesota, is a viable robotic platform for these types of missions. The small form factor of the Scout allows for deployment, placement, and concealment of a team of robots equipped with a variety of sensory packages. However, the design of the Scout requires a compromise in power, sensor types, locomotion, and size; together these factors prevent an individual Scout from operating ideally in some environments. Several attempts to address these deficiencies have been implemented and are discussed. Among the prototype solutions are actuating wheels, allowing the Scout to increase ground clearance in varying terrains, a grappling hook enabling the Scout to obtain a position of elevated observation, and infrared emitters to facilitate low light operation.