System Design Navigation for an Explorer Robot with System Continuous Track Type Traction

Abstract

Given the growing need to enhance the accuracy of exploration robots, this study focuses on designing a teleoperated navigation system for a robot equipped with a continuous-track traction system. The goal was to improve navigation performance by developing mathematical models that describe the robot’s behavior, which were validated through experimental measurements. The system incorporates a digital twin based on ROS (Robot Operating System) to configure the nodes responsible for teleoperated navigation. A PID controller is implemented for each motor, with zero-pole cancellation to achieve first-order dynamics, and anti-windup to prevent integral error accumulation when the reference is not met. Finally, a physical implementation was carried out to validate the functionality of the proposed navigation system. The results demonstrated that the system ensured precise and stable navigation, highlighting the effectiveness of the proposed approach in dynamic environments. This work contributes to advancing robotic navigation in controlled environments and offers potential for improving teleoperation systems in more complex scenarios.

Keywords

• navigation system
• ROS
• remote control
• kinematic model
• dynamic model
• mathematical model