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Abstract

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ABSTRACT

Medium scale robotic vehicles which are easily portable by humans are achieving

increased application as technology improves, particularly in certain outdoor

environments. Conventional, manually operated equipment has difficulty traversing

uneven terrain, such as in dangerous environments where the human operators may be

at risk. Robots which are capable of autonomous operation can be used in place of

traditional machinery to perform repetitive or difficult tasks thus reducing the risk to

the human operators and increasing the overall productivity by operating for longer

time periods. This thesis discusses the modification and enhancement of a multi-

terrain robotic vehicle that will eventually be capable of autonomous operation.

The mechanical platform consists of a track-laying differential drive system

supporting payloads in excess of 100 kg which was previously developed by the

Mechatronics Group at the University of Waikato. The existing shell did not have any

working systems onboard so a complete design and installation of the electronics has

been completed and various sensory systems are evaluated and implemented. The

required control and navigation software systems have been designed enabling robot

control in an outdoor environment. The mechatron and the installed systems have

been successfully tested in a variety of outdoor conditions.

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