TY - JOUR ID - 35015 TI - DESIGN OF AN AUTONOMOUS ROBOT OPERATING IN DIFFERENT ENVIRONMENTS JO - The International Conference on Applied Mechanics and Mechanical Engineering JA - AMME LA - en SN - 2636-4352 AU - Alsherif, M. M. H. AU - Barakat, A. F. AU - Darwish, R. M. AD - M. Sc. researcher, Dept. of Mechatronics Engineering, Faculty of Engineering Helwan University, Cairo, Egypt. AD - Prof. Dr., Dept. of Mechanical Engineering, Faculty of Engineering, Helwan University, Cairo, Egypt. AD - Lecturer, Dept. of Mechanical Engineering, Faculty of Engineering, Helwan University, Cairo, Egypt. Y1 - 2018 PY - 2018 VL - 18 IS - 18th International Conference on Applied Mechanics and Mechanical Engineering. SP - 1 EP - 21 KW - UAV KW - UGV KW - USV KW - 6DOF KW - 3DOF KW - PID KW - autonomous system DO - 10.21608/amme.2018.35015 N2 - ABSTRACTCurrent autonomous robots are limited to work only in one single environment. Forexample (swimming and submerging) in water, (walking, jumping and mobile) onground or (flying and floating) in air. However, in case of seeking a series ofautonomous operations that required to be held in different environments, eithermany robots should be used, or a single robot that can operate in differentenvironments should be established. Therefore, this research is aimed at designing asingle autonomous robot that can fly in air -as Unmanned Arial Vehicle (UAV)-, sail inwater -as Unmanned Surface Vehicle (USV)- and move on the ground-as UnmannedGround Vehicle (UGV)- and this is a new category of robots which could be calledUnmanned Multi-environments Vehicle or Autonomous Multi-environments Robot.The mathematical model of the proposed robot is derived using kinematic anddynamic model. Then a linearized version of the model is obtained. The used controlapproach is based on the linear proportional derivative Integral controller (PID) usingnested control loops and applied to the model. Finally the behavior of the Robotunder the proposed control strategy is simulated and observed in 3D plot Simulink /Matlab. UR - https://amme.journals.ekb.eg/article_35015.html L1 - https://amme.journals.ekb.eg/article_35015_a7311ac83137086781ebc697d3967136.pdf ER -