A compact design of zero-radius steering autonomous amphibious vehicle with direct differential directional drive - UTAR-AAV

The contribution of this autonomous amphibious vehicle (UTAR-AAV) includes the determination of vehicular requirements to serve its purpose of being a support and rescue unit on land and water with low turning radius and narrow space navigation ability. The vehicle is electrically powered and uses only a single mechanical drive system, i.e. the direct differential drive. The drive system features a zero-radius steering capability to facilitate maneuvering over both land and water. This reduces vehicle dead weight, bulkiness and simplifies controller design. The automated guided system is placed within the compact body of the vehicle. The vehicle can switch to autonomous mode as required when in the confined or narrow areas. The autonomous mode will activate automatically during communication link cut off. This paper presents the design and fabrication works for the UTAR-AAV.