Spherical robot: A novel robot for exploration in harsh unknown environments

Abstract

The authors propose a complete software and hardware framework for a novel spherical robot to cope with exploration in harsh and unknown environments. The proposed robot is driven by a heavy pendulum covered by a fully enclosed spherical shell, which is strongly protected, amphibious, anti‐overturn and has a long‐battery‐life. Algorithms for location and perception, planning and motion control are comprehensively designed. On the one hand, the authors fully consider the kinematic model of a spherical robot, propose a positioning algorithm that fuses data from inertial measurement units, motor encoder and Global Navigation Satellite System, improve global path planning algorithm based on Hybrid A* and design an instruction planning controller based on model predictive control (MPC). On the other hand, the dynamic model is built, linear MPC and robust servo linear quadratic regulator algorithm is improved, and a speed controller and a direction controller are designed. In addition, based on the pose and motion characteristics of a spherical robot, a visual obstacle perception algorithm and an electronic image stabilisation algorithm are designed. Finally, the authors build physical systems to verify the effectiveness of the above algorithms through experiments.

Investigating the impact of initial parameters on autonomous robot swarm movement strategies for enhanced exploration efficiency: a comprehensive study

“…It can roll on land, float on water, and withstand extreme temperatures. The fully enclosed shell protects the robot's internal components from dust, water, and corrosive substances, ensuring longevity and reliability during extended missions [35].…”