Tethered Robots for the Exploration and Mapping of Unknown Environments

Kevin Bruce*, Danylo Shapovalov and Guilherme Augusto Silva Pereira, Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26505

Field (Broad Category): Engineering (Physical Sciences & Engineering) 

Student’s Major: Computer Engineering 

While quadcopter drones are extremely useful tools for surveying, they are severely limited by battery life. Quadcopters are four propeller flying vehicles that take off and land vertically and are highly maneuverable. However, due to the weight of batteries, they cannot carry a large enough energy reserve relative to their power consumption to fly for long. One solution for this problem is to run a power tether from a larger battery or reactor on the ground to the drone, allowing a nearly unlimited flight time while adding minimal weight. Despite its benefits, a tether sacrifices some freedom of movement and pathing efficiency. Research into this area requires both mechanical and algorithmic development. Mechanical goals include the development of systems for tether retention, guidance, and release to achieve a balance of reliability, freedom of movement, and cost. Algorithmic goals include creating guidance systems that avoid tangling and mapping algorithms using mounted sensors. A cart has been constructed to bend the tether perpendicularly at the ground to decrease tangling and algorithmic complexity. Also, a rotary part has been developed to decrease linear and rotational stress on important components. The room mapping algorithm is being developed using the Robot Operating System (ROS) to interface with a Light Detection and Ranging, or LiDAR, unit mounted on the drone. The drone that will be used for testing is still being designed, so initial tests will be completed using simulation software and the iRobot Create ground platform, and algorithmic changes will be made if issues arise. 

Funding: West Virginia Space Grant Consortium 

Program/mechanism supporting research/creative efforts: WVU's Research Apprenticeship Program (RAP) & accompanying HONR 297-level course