Design and control of a four-flipper tracked exploration & inspection robot

摘要

We describe the design and control of a prototype of an exploration and inspection robot built as a four flipper/track mobile robot. It is equipped with on-board sensors including standard and thermovision cameras, gas and temperature detectors, etc. The robot maintains wireless video and audio communication with the operator. Its principal aim is to explore buildings, locate people caught in the accidents and detect potential sources of danger in abnormal conditions caused by flood, fire, earthquake or other natural and nonnatural disasters. The robot construction complies to the ATEX norms in order to minimize the risk of interventions of professional units (e.g. fire fighting, civil guard, police, military). Having four independently controlled tracks/flippers, the robot allows easy maneuvering and overtaking of obstacles (including steps). Although dominantly designed as a remote-controlled robot device, advanced control features such as roll-angle compensation and corridor/steps/door centering algorithms help the operator to navigate robot in a much easier and safer way.