Self-Guided Rover with Articulated Suspension for Uneven Terrain Navigation

Abstract

The progression of mobile robotic systems designed for operation in challenging and unstructured environments has become increasingly important in areas such as space exploration, military missions, and disaster response. Early robotic platforms relied primarily on simple wheel or trackbased locomotion, which, although effective on flat surfaces, often struggle to maintain stability and traction on uneven terrain. As a result, advanced mobility mechanisms like the rocker-bogie suspension system have gained attention due to their ability to distribute load efficiently and adapt to rough surfaces, as demonstrated in planetary rover missions. Despite these improvements, many conventional systems still face limitations in handling unpredictable environments, often experiencing instability, reduced grip, and difficulty in overcoming obstacles, which ultimately affects their operational efficiency and autonomy. To overcome these challenges, this work proposes an autonomous mobile robot built upon a rocker-bogie suspension framework, designed to enhance terrain adaptability and movement stability. The system employs a six-wheel configuration with independent motor control, allowing better traction and smoother navigation across irregular surfaces. Additionally, integrated sensors enable real-time obstacle detection and environmental awareness, supporting intelligent navigation without continuous human intervention. By combining mechanical robustness with sensor-driven autonomy, the proposed system aims to improve performance, reliability, and efficiency, making it highly suitable for deployment in hazardous or inaccessible environments where traditional robotic systems are less effective.