하이브리드 주행모드의 휠-트랙 로봇

Abstract

In this paper, we propose a method to design a wheel track robot that can change the driving mode depending on the terrain. The proposed wheel-track robot has a mechanism to change the driving mode, with a parallelogram four-joint link structure that uses wheels to drive on flat ground and tracks to drive on rough ground. In addition, a gyro sensor, a laser sensor, and an ultrasonic sensor are used to recognize the surrounding environment of the robot. An algorithm was developed to allow the robot to change the driving mode by itself and overcome rough terrain, where it was controlled using Arduino Mega 2560. Wheel-track robots were designed and manufactured, where driving tests confirmed that the robots can recognize the environment and change driving modes on their own.