Design, Development & Evaluation of a Prototype Tracked Mobile Robot for Difficult Terrain

摘要

This paper reports the design, development andevaluation of a prototype tracked mobile robot for task executionin both natural and human-made environments with stairclimbing feature. First, different types of locomotion systems usedfor mobile robots are compared and their pros and cons arepresented. Then the mechanism designed for the prototypetracked mobile robot is described with the aid of a CAD model.Finally, the results of field testing of the actual robot are presentedand the behavior of tracked mobile robots in presence of slippageis discussed.