DEVELOPMENT OF A FLEXIBLE SERPENTINE ROBOT FOR DISASTER SURVEILLANCE OPERATIONS

摘要

This paper presents the development of a snake robot with vision system. This can be used for disaster aid and lessen the danger that the rescuers may encounter. The design of the snake robot considers the use of its own body segments for motion using rectilinear motion rather than using wheels. The use of segments enables the snake to move on flat and uneven terrain. Servo motors will be used for the movement of each joint and it will be powered by a lithium-polymer battery. Accelerometers and gyroscopes will serve as the input and orientation sensors, a head-mounted camera will be used to detect its location and where it is moving. An Arduino Pro Mini will be used for the controller and will be configured to receive commands from an XBee wireless transmission transceiver from the base computer. A graphical user interface in a base computer will serve as the interface of the robot’s operator and the robot. Its main movement will be based on a biological snake’s rectilinear motion which is embedded in the robot’s control system.