Design and Development of an Amphibious Robot for Improved Mobility in Real-World Swarm Applications

Abstract

This thesis presents hardware development methods and design considerations for a small Unmanned Ground Vehicle (UGV) that will serve as a platform for the future development of a versatile robotic swarm. Swarm robotics can be roughly defined as a field of study focusing on the collaborative capacity of a group of many robots and how they can be utilized to perform complicated tasks in an efficient manner. The inherent scalability of robotic swarms allows for the application of diverse hardware elements, giving the robots within the swarm different capabilities. These components are implemented using a modular system for easy modification, ensuring that the robots remain adaptable and versatile. The nature of a robotic swarm means that a group of relatively simple robots can be used to perform complex tasks or make difficult decisions; however, certain applications with high levels of uncertainty, like urban rescue or navigating disaster environments increase the demand for individual robots. For these tasks, the robots within the swarm may need more advanced implementation elements to achieve the desired levels of performance including battery monitoring processes and increased resiliency. Real-world applications require robots to consider various hazards like weather, standing water, or diverse terrains. A combination of optimized chassis design and novel transformable wheels allows the robots to safely navigate a wide variety of environments, gathering data like GPS coordinates and providing operators with a camera view of the robot’s surroundings. Based on those requirements to advance the overall swarm capabilities, a new amphibious mobile robotic platform, called ARMoR, was developed. ARMoR is equipped with two transformable wheels which can passively switch between wheel and leg configurations to achieve advanced mobility on ground and water surfaces.