Modeling and Simulation of a Ground Mobile Rover for Inspection Tasks

This paper proposes design improvements and simulations for an inspection rover developed for inspection tasks. The proposed system is suitable for both indoor and outdoor surveys and, due to its compact size and ability to overcome obstacles, is particularly well-suited for use in confined spaces where human intervention is difficult or nearly impossible. Autonomous or teleoperated systems can replace experienced personnel, navigating complex, unstructured environments that are often hard to access. These systems carry appropriate sensors and manage data, which can then be transmitted for further analysis. The survey uses advanced mechatronic systems consisting of robots, instrumentation, and a networking system to operate both internal and external sensors. The former is used for navigation, while the latter provides data from the area of interest. This paper focuses on the robotic structure designed for inspection tasks. Building on an existing hybrid rover, the paper examines the mechanical design and simulation of the system to optimize its functionality in terms of motion smoothness and compactness, all while adhering to a low-cost design philosophy.