Design of an Autonomous Robot Operating in Different Environments

Abstract

Current autonomous robots are limited to work only in one single environment. For example (swimming and submerging) in water, (walking, jumping and mobile) on ground or (flying and floating) in air. However, in case of seeking a series of autonomous operations that required to be held in different environments, either many robots should be used, or a single robot that can operate in different environments should be established. Therefore, this research is aimed at designing a single autonomous robot that can fly in air-as Unmanned Arial Vehicle (UAV)-, sail in water-as Unmanned Surface Vehicle (USV)-and move on the ground-as Unmanned Ground Vehicle (UGV)-and this is a new category of robots which could be called Unmanned Multi-environments Vehicle or Autonomous Multi-environments Robot. The mathematical model of the proposed robot is derived using kinematic and dynamic model. Then a linearized version of the model is obtained. The used control approach is based on the linear proportional derivative Integral controller (PID) using nested control loops and applied to the model. Finally the behavior of the Robot under the proposed control strategy is simulated and observed in 3D plot Simulink / Matlab.