Design of Edge-controlled Multisensor Autonomous Robotic Pathfinder with Active Quadrupedal-wheel Drive Suspension System

This paper introduces an edge-controlled autonomous robot with a gyro-stabilized active suspension system in form of a hybrid quadrupedal wheel drive mechanism, capable of detecting free pathways with an angular resolution of 1 degree and steering the robot in that direction. This features the computer-aided prototyping of the robot as a complete multisensory mechatronic system. Also, several algorithmic models were used in developing the robot’s software, which includes suspension control and pathfinding algorithms. Hence, the concept in this paper is to serve as a miniature model for robotizing off-road vehicles for various applications.