Alsherif, M., Barakat, A., Darwish, R. (2018). DESIGN OF AN AUTONOMOUS ROBOT OPERATING IN DIFFERENT ENVIRONMENTS. test, 18(18th International Conference on Applied Mechanics and Mechanical Engineering.), 1-21. doi: 10.21608/amme.2018.35015
M. M. H. Alsherif; A. F. Barakat; R. M. Darwish. "DESIGN OF AN AUTONOMOUS ROBOT OPERATING IN DIFFERENT ENVIRONMENTS". test, 18, 18th International Conference on Applied Mechanics and Mechanical Engineering., 2018, 1-21. doi: 10.21608/amme.2018.35015
Alsherif, M., Barakat, A., Darwish, R. (2018). 'DESIGN OF AN AUTONOMOUS ROBOT OPERATING IN DIFFERENT ENVIRONMENTS', test, 18(18th International Conference on Applied Mechanics and Mechanical Engineering.), pp. 1-21. doi: 10.21608/amme.2018.35015
Alsherif, M., Barakat, A., Darwish, R. DESIGN OF AN AUTONOMOUS ROBOT OPERATING IN DIFFERENT ENVIRONMENTS. test, 2018; 18(18th International Conference on Applied Mechanics and Mechanical Engineering.): 1-21. doi: 10.21608/amme.2018.35015

DESIGN OF AN AUTONOMOUS ROBOT OPERATING IN DIFFERENT ENVIRONMENTS

The International Conference on Applied Mechanics and Mechanical Engineering
Article 70, Volume 18, 18th International Conference on Applied Mechanics and Mechanical Engineering., April 2018, Pages 1-21    PDF (1.15 M)
Document Type: Original Article
DOI: 10.21608/amme.2018.35015
Authors
M. M. H. Alsherif1; A. F. Barakat2; R. M. Darwish3
1M. Sc. researcher, Dept. of Mechatronics Engineering, Faculty of Engineering Helwan University, Cairo, Egypt.
2Prof. Dr., Dept. of Mechanical Engineering, Faculty of Engineering, Helwan University, Cairo, Egypt.
3Lecturer, Dept. of Mechanical Engineering, Faculty of Engineering, Helwan University, Cairo, Egypt.
Abstract
ABSTRACT
Current autonomous robots are limited to work only in one single environment. For
example (swimming and submerging) in water, (walking, jumping and mobile) on
ground or (flying and floating) in air. However, in case of seeking a series of
autonomous operations that required to be held in different environments, either
many robots should be used, or a single robot that can operate in different
environments should be established. Therefore, this research is aimed at designing a
single autonomous robot that can fly in air -as Unmanned Arial Vehicle (UAV)-, sail in
water -as Unmanned Surface Vehicle (USV)- and move on the ground-as Unmanned
Ground Vehicle (UGV)- and this is a new category of robots which could be called
Unmanned Multi-environments Vehicle or Autonomous Multi-environments Robot.
The mathematical model of the proposed robot is derived using kinematic and
dynamic model. Then a linearized version of the model is obtained. The used control
approach is based on the linear proportional derivative Integral controller (PID) using
nested control loops and applied to the model. Finally the behavior of the Robot
under the proposed control strategy is simulated and observed in 3D plot Simulink /
Matlab.
Keywords
UAV; UGV; USV; 6DOF; 3DOF; PID; autonomous system
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