Design of the Structure and Software Architecture of a Mobile Research Robot with Variable Geometry

Devices used in Ground Penetrating Radar (GPR) technology vary in size depending on the purpose of the measurement to be carried out. The variety of devices, especially measurement antennas, poses a design challenge for the hardware and software side of a robotic mobile platform. This article presents the design of the robotic mobile platform tailored for GPR surveys. The robot’s construction, featuring a variable-geometry frame, is detailed to accommodate different antenna sizes. Key components, including the drivetrain and signal processing system, are discussed, highlighting the use of differential drive and multi-layered control architecture for autonomy and reliability. The software architecture encompasses data analysis and motion control, implemented through concurrent threads for modularity and fault tolerance. Additionally, a database-based approach is adopted for data storage and exchange, improving reliability and processing efficiency. Field tests validate the system’s performance, demonstrating accurate positioning and highlighting the need for sensor fusion in indoor environments. The article concludes with insights for future improvements, emphasizing enhanced maneuverability and fault tolerance in the robot’s design.