Maneuver Control and Avoidance System For Tracked Vehicle Robot

Abstract

Over the past decade, nuclear and chemical substances have been part of the world’s technological advancement. However, these technologies also have a negative impact towards the environment once disasters happen. In the case of contaminations, most operation will deploy human as the first responder. Alternatively, a mobile operator robot or semi-autonomous vehicle robot can be deploy instead to this unknown territory. To achieve this, the tracked vehicle must be able to be operated blindly and assist the operators during reconnaissance and assessment. This research focused on the maneuvering capability and the avoidance system of the tracked vehicle robot during operation. The maneuver control system based on a motion tracking device that used inertial measurement unit (IMU) that combines with a three-axis gyroscope and accelerometer to ensure stability. On the other hand, collision avoidance primarily used infrared (IR) sensors to ensure the safety due to its low dynamic applications. The proposed system shows good respond with the unknown and uneven terrain and able to halt movement accordingly. The next phase will explore multiple sensors in order to enhance its overall capability regarding the efficiently of its maneuvering capabilities with great responses.