Design and development of Spherical Amphibian Vehicle (SAV)

• Main Authors: Mohd Bazli, Bahar, Mohd Shahrieel, Mohd Aras, Shahrum Shah, Abdullah, San, Ng Sin, Zainah, Md Zain, Ahmad Anas, Yusof, Mohd Zaidi, Mohd Tumari
• Format: Conference or Workshop Item
• Language: English; English
• Published: Springer Science and Business Media Deutschland GmbH 2022
• Subjects: T Technology (General); TA Engineering (General). Civil engineering (General); TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/39738/1/Design%20and%20Development%20of%20Spherical%20Amphibian%20Vehicle%20%28SAV%29.pdf; http://umpir.ump.edu.my/id/eprint/39738/2/Design%20and%20development%20of%20Spherical%20Amphibian%20Vehicle%20%28SAV%29_ABS.pdf; http://umpir.ump.edu.my/id/eprint/39738/; https://doi.org/10.1007/978-981-16-2406-3_1
• Institution: Universiti Malaysia Pahang Al-Sultan Abdullah

Spherical Amphibian Vehicle (SAV) is a spherical robot that is capable of operating in two different environments which are terrestrial and underwater. SAV has a wide range of applications in scientific research and military activities such as ocean exploration and search and rescue missions. However, motion control of a spherical robot is a very challenging task because of the nonlinearity of the robot system, time-variance, uncertainty external disturbances and difficulty in hydrodynamic modelling. This project is focused on building a SAV that is cost-efficient and able to function on land and underwater. The designed robot is a 2 degree of freedom (DoF) movement that can move forward/reverse and left/right direction. It uses one DC motor and one servo motor to actuate the forward/reverse motion and sideways (left/right) motion, respectively. Arduino UNO is selected to be used as a microcontroller due to its effectiveness and low cost. The spherical amphibian robot is designed with Arduino bluecontrol interface.