2P2-A01 On-Board Controller of Snow Mobile Robot with Variably COnfigured Segmented Wheels

Abstract

The Variably Configured Segmented Wheel (VCSW) seems to be suitable for traveling on snowy road. The tip of vane is effective to prevent slippage on a snow road and the motion of vanes is effective to remove covered snow. The amount and direction of vane extrusion should be controlled according to the road condition. Three motors for each wheel should be controlled. An on-board controller with a micro computer having wireless telecommunication device is developed for multi axis control. This controller is applied to the test vehicle successfully. But the power control should be improved.