1A1-O14 The Development of Mobile Rovers for Tidal Flat(Evolution and Learning for Robotics)

Abstract

This study aims at the development of mobile rovers for conservation or investigation of tidal flat. Especially, this paper focuses on wheeled rovers which have the simple structure. Wheeled rovers have high possibility of tire spin because of tidal flat covered with mud. In order to avoid tire spin, three flexible wheels are adopted for the experiments on the difference of flexure. From the experimental results, the most flexural wheel shows the low slip ratio on the imitating tidal flat using muddy soil.