MULTI-TERRAIN ROBO ENGINEERING

Abstract

Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can man  in all type of 
landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in 
very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered 
wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot 
have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. 
Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on 
obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.