Design and Development of the Remote-Controlled UGV 'Leopard Cat' for Exploration of Rough Terrains

被引：0

作者：

Jeon, Soyul ^{[1
]}

Seo, Jiyoon ^{[1
]}

Hwang, YoonGyu ^{[2
]}

Kim, Mingu ^{[1
]}

机构：

[1] Hansung Univ, Div Mech & Elect Engn, Seoul, South Korea

[2] Hansung Univ, Div Comp Engn, Seoul, South Korea

来源：

TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2022年 / 46卷 / 12期

关键词：

Unmanned Ground Vehicle; Rough Terrain Driving; Tracked Robot; Flipper; Remote Control; Message Queuing Telemetry Transport;

D O I：

10.3795/KSME-A.2022.46.12.1115

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper deals with the design and development of the remote-controlled tracked unmanned ground vehicle (UGV) 'Leopard Cat.' The construction of caterpillar track and flipper was considered to drive in a rough terrain environment by expanding the ground area of the UGV. The UGV was designed and manufactured by structurally analyzing the required motor torque and flipper systems for stable driving in various rough terrains, including stairs and dunes. To remotely control the UGV, a wireless communication system capable of receiving image data and transmitting driving commands through a camera was designed based on MQTT. The designed UGV, 'Leopard Cat,' participated in 2021 Defense Robot Competition and performed the given missions to demonstrate the performance of the UGV's remote control rough terrain driving.

引用

页码：1115 / 1125

页数：11

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