Nicolella, Armando (2025) STUDY AND DEVELOPMENT OF A SIX-WHEELED ROBOT FOR FIELD APPLICATIONS. [Tesi di dottorato]

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Abstract

This PhD thesis focuses on the development and validation of a six-wheeled rover, designed within the AVELICA project, funded by the European REACT-EU programme, for environmental applications such as waste collection in non-cohesive terrain, such as beaches and natural environments. The rover integrates a rocker-bogie suspension architecture and a robotic arm with computer vision systems designed to operate in complex and dynamic scenarios. The approach adopted combines multibody modelling with calibration techniques, including hand-eye calibration, to improve the accuracy and effectiveness of the robotic-arm camera system. The work involved several stages that contributed to the design and optimization of the system. One of the main achievements was the combination of modelling, simulation and practical experimentation. The development of the rover was divided into two different solutions: a Small Rover prototype to validate the numerical model, refine the design parameters and carry out initial tests, and a Full-Scale prototype to verify the operational performance at full scale. The multibody models, designed as digital twins, were used not only to simulate the system dynamics and analyse the load distribution, but also to lead the experimental test phases in the case of the Small Rover, allowing a significant reduction in development time. Particular attention has been given to the integration of vision systems thanks to a hand-eye calibration, which are essential to enable the rover to autonomously perceive and interact with its environment. The rover is also equipped with a robotic arm to modify the attitude for aiding crossing obstacles, improving the stability and adaptability of the system. Finally, autonomous navigation applications have been explored for both single rovers and multi-agent systems, providing flexibility in environmental applications. The methodological approach adopted in this thesis ensures that each aspect of the research directly contributes to the overarching goal of developing a fully functional robotic platform for real-world deployment in environmental contexts. The results demonstrate the effectiveness of the system in combining sustainability, technological innovation and environmental protection, in line with the objectives of the European Green Deal and national sustainable waste management strategies.

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