B2P2 variable geometry single tracked vehicle

Description

B2P2 is a Unmanned Ground Vehicle (UVG). It belongs to the Variable Geometry Single Tracked Vehicle (VGSTV) category.

The robot is based on an original mechanical architecture: it can change its shape according to the obstacle it has to pass through. This robot has been designed to increase its clearing capabilities. It is able to pass through a wide range of obstacles like stairs, ramps, bumps, curbs...

This remotely-controlled robot can also explore buildings in order to assure some recognitions. It is equipped with a video camera, a 2.4Ghz wireless transmission allows to visualize the pictures captured by the robot from afar. A compass and a GPS sensor are embedded in order to obtain posutre information. Sensor are used to control the robot posture and provide unseful information to the operator. Computer PC 104 is embedded to supervise control and communication. Microcontrollers are used to localy control the DC motor.

Videos

The following video shows robot climbing and going down stairs:

The following video shows the robot during the getting over of a curb:

The following video shows the robot autonomously climbing a staircase based on genetic algorithms:

Publications and reports

J.L Paillat, P. Lucidarme, L. Hardouin (2010) Original design of Unmanned Grounded Vehicle (UGV) for exploration in rough terrain, Advanced Robotics 24, pp. 255–276.

J.L Paillat, P. Lucidarme, L. Hardouin (2009) Mechanical constants for B2P2 platform , Internal report.

J.L Paillat, P. Lucidarme, L. Hardouin (2009) B2P2 modeling and balance criterion computation, Internal report.

J.L Paillat, P. Lucidarme, L. Hardouin (2008) Variable Geometry Tracked Vehicle, description, model and behavior , Mecatronics 2008, 21-23 May 2008, Paper #130.

J.L Paillat, P. Lucidarme, L. Hardouin (2008) Variable Geometry tracked Vehicle (VGTV) prototype : conception, capability and problems , HUMOUS'08, Brest 3-4 september 2008.

See also

• 2023 Student Projects

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