Articulated design architecture and open-loop command and control system for a tele-operated Versatile Terrain Mobility Platform

摘要

A type of unmanned ground vehicle (UGV) called Versatile Terrain Mobility Platform (VTAMP) has been designed with the idea of providing a dynamic mobile platform with the unique ability of traversing through rough terrains, and also to pass over obstacles otherwise proving to be a difficult task for most tele-operated ground vehicles. Increased maneuverability is achieved by using active arm-like tracks called “ flippers”. By being able to operate each flipper independently, we can operate VTAMP in different modes with the operator control unit (OCU) which in our scenario is a laptop. This is achieved through feedback loop on each flipper using encoders. The ability to c hange configuration facilitates VTAMP to be able to adapt to all kinds of terrains. The basic architecture of VTAMP is presented first, followed by its different modes of operation by possible flipper arrangements and its control scheme. An algorithm was made to prevent accidental collision between flippers. In addition to this, the turning radius of the VTAMP was also calculated according to the track speeds of both sides which were then verified through experiment.