A novel design of an unmanned hybrid vehicle

Abstract

Mobile robots are considered to be an invaluable tool in search and rescue missions. Several studies are currently being conducted to improve the performance of these vehicles. However, this has proven to be difficult to accomplish when operating within different environments. Unmanned Hybrid Vehicles resolve this problem by merging two robotic architectures into one unit. This dissertation presents an experimental design of a hybrid robot, capable of both aerial and terrestrial locomotion. The adopted architecture was based on the classical quadruped configuration, integrated with a ducted coaxial-rotor. The feasibility of this design was verified by developing the electrical and mechanical elements of the robot into a functioning platform. The prototype was successfully held within the maximum mass limit and sufficient thrust was generated from the rotors. These results were supplemented by testing the sensors, actuators and signal conditioning circuitry of the designed embedded system. The basic kinematic controls were also demonstrated to exhibit the capabilities of the robot.