Remote Control and Autonomous Driving: The System-wide Design of a Wheel-track Transformable Robot –– Kylin Blaster

摘要

This paper introduces the whole system design of a wheel-track transformable robot -- Kylin Blaster, including the mechanical sub-system, the electrical sub-system, the control sub-system, the navigation sub-system and the autonomy subsystem. Having the functions of remote control and autonomous driving, the robot achieves both the high terrain adaptability and the high movement speed. Kylin Blaster won the championship in the UGVC 2018, with its superior performance, such as the 1.4m/s movement speed on the flat ground, the climbing ability for the 1m height obstacles and 45-degree slopes, the remote control with real-time video feedback, the centimeter level accuracy for localization and the real-time autonomous path planning.