Development of the Design and Control System Programming for a Wheeled Mobile Robot
DOI:
https://doi.org/10.31181/rme510Keywords:
Wheeled Mobile Robot, Control Unit, Program Code, Programming, Sensors, Sensor Systems, Autonomous Robot.Abstract
The developed wheeled mobile robot is equipped with laser devices and multiple sensors, enabling autonomous exploration and data collection in hard-to-reach environments without operator intervention. The main objective of this study is to investigate the design features of wheeled robots integrated with an program code - based control unit, including their ability to recognize obstacles, assess environmental conditions, analyze situations, and make decisions autonomously. The research involved three stages: the design and development of a physical prototype, programming the control system in C++, and planned field testing under real-world conditions. A comprehensive review of scientific literature was conducted to justify the robot’s electric-driven wheeled design, followed by optimization of its mechanical and control architecture. Sensor systems were integrated with program code to enable adaptive responses to varying terrains and changing center of gravity during movement. Differential wheel speed distribution was calculated and simulated for complex geographical conditions, ensuring stable and efficient mobility. The program code control program processes diverse environmental data, including temperature, soil and water samples, gas concentrations, radiation levels, terrain inclination, vibrations, and seismic activity. The developed system demonstrates a significant advancement in autonomous robotic exploration, offering a reliable platform for research and monitoring in inaccessible or hazardous environments.
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