Design of Edge-controlled Multisensor Autonomous Robotic Pathfinder with Active Quadrupedal-wheel Drive Suspension System

Abstract

This paper introduces an edge-controlled autonomous robot with a gyro-stabilized active suspension system in form of a hybrid quadrupedal wheel drive mechanism, capable of detecting free pathways with an angular resolution of 1 degree and steering the robot in that direction. This features computer-aided prototyping of the robot as a complete multi-sensory mechatronic system. Also, several algorithmic models were used in developing the robot’s software, which includes suspension control and pathfinding algorithms. The pathfinding algorithm computes the direction of the farthest exit point by recursive sorting and caching of values and addresses of array elements. Special performance indicators such as mechanical endurance, sensor accuracy, and sensitivity highlight important aspects of this work. Hence, the concept in this paper serves as a model for robotizing off-road vehicles for various applications.