The Development of an Autonomous Salt Field Robot

A large number of robots are used in various special environments and the operating environment of most robots is flat ground or water. Nevertheless, little research has been conducted on salt field robots because they are typically used in an environment with both soil and water, e.g., a muddy terrain environment would make it very easy for robots to slip. To develop the salt field robot we built a screw-propelled vehicle including chassis, wheels, stirring and collecting system, control system, and LiDar and IMU sensors. We fabricate the robot chassis using the screw propeller wheel dynamics model, as well as suggesting that white steel be used as the anti-corrosion material and that the exposed surfaces be painted with anticorrosion paint. Additionally, we employ the Rapidly-exploring Random Tree (RRT)-based automatic exploration algorithm to facilitate the robot in fulfilling autonomous exploration and mapping functions. This implementation is further bolstered by amalgamating algorithm packages such as gmapping and move base, which jointly contribute towards the accomplishment of dynamic obstacle avoidance tasks.