Floor to Staircase and Wall Transfer Mobile Robot

Abstract

The focus of the research is on the design and development of a mobile robot which has the ability to transfer from floor to wall. A novel technique is proposed for Floor-to-Wall Transfer (FWT) robot, which has the capability to move on multi terrain in different surfaces and then able to transfer to the vertical surfaces and perform task such as exploration. The proposed FWT Mobile robot is able to perform navigation such as obstacle avoidance, terrain, capturing videos and pictures across high ceiling, industrial measurement and observation where traditional vehicles or human labor are less feasible to reach. The FWT robot consists of two portions which are the MotherBot and ExplorerBot. While the MotherBot carries the ExplorerBot, it navigates in terrain surface and staircase. ExplorerBot detaches the MotherBot, while MotherBot faces the vertical wall and ExplorerBot drive itself and navigates according to the proposed algorithm. Additional features are added onto the MotherBot and ExplorerBot to perform special tasks such as transferring, navigation, sensing objects etc. Experimental studies are carried out to study the performance of both robots. Comparison between proposed techniques using existing work are discussed and evaluated.