An Adaptive Mobility Architecture for Uneven Surface Navigation Using Rocker–Bogie Kinematic Structuring

Abstract

The development of mobile robots for rough terrain exploration has gained significant importance in recent years, especially in applications such as planetary exploration, military operations, and disaster management. Historically, robotic mobility systems have evolved from simple wheeled platforms to more advanced suspension mechanisms, notably the rocker-bogie system, which was popularized through its successful implementation in Mars rovers. Despite these advancements, conventional mobile robots using standard wheel or track mechanisms face challenges in navigating uneven and unpredictable terrains. The primary problem addressed in this project is the limited adaptability and stability of traditional robotic systems when operating on rugged surfaces. Conventional systems often suffer from poor traction, instability, and inability to overcome obstacles, which restricts their usability in critical environments. Additionally, these systems may require constant human intervention, reducing their efficiency in autonomous operations. To overcome these limitations, there is a need for a robust and intelligent robotic system capable of traversing complex terrains with minimal human control. The proposed system focuses on designing an autonomous mobile robot based on the rocker-bogie suspension mechanism. This system integrates a six-wheel configuration with independent motor control and sensor-based obstacle detection to ensure stability, flexibility, and adaptability. The significance of this project lies in its potential to enhance robotic mobility in challenging environments. By combining mechanical innovation with autonomous control, the proposed robot offers improved performance, reliability, and efficiency, making it suitable for real-world applications where human access is limited or hazardous.