Abstract
This paper discusses the design and control of the driving system of a modern mobile robot which is used for a variety of rough terrains in remote areas to catch ticks. The autonomous robot offers a new solution to the collection of insects employing a mobile robot equipped with a vision system, GPS, and tick collection attachment. The new collection method is designed for US Army medical researchers and other biologists. The method would alter the way the technology gathers insects instead of human manual labor. The robot is designed to work on diverse terrains, such as soft turf, gravel, wet soil, and rocky soil.
A robotic solution to tick collection protects humans from a potential illness from bugs and insects, which may carry disease pathogens, injury from traveling across rough ground, and harm due to exposure to the elements. The robotic solution has the potential to apply to other research areas as well.
This paper will address the driving system design and control, including motor selection, determining the wheels, power requirements calculation, battery selection, discussion of control methods and diagrams, the coding logics based on ROS, and simulation of the robot in different settings and terrains. The future work is also described at the end of the paper.
