Resumen

This document is the final report of the degree work corresponding to the development of an unmanned ground exploration robot, which is controlled remotely by means of a network connection, with access to the internet for long distances, or without it for local management, through a gamepad connected to a remote Linux system compatible with ROS. There are a large number of applications in which unmanned terrestrial robots can be used: agriculture, information mapping, transport or exploration in environments that are difficult for humans to access, in order to overcome the different challenges that may exist in the route, having the ability to provide some help to the pilot, as they are to transmit video in real time through a video camera and a Kinect V1 device, to inform about their trajectory by interpreting the data obtained by the IMU and the encoders, combining them through an Extended Kalman Filter; as well as an automatic speed control function or the option to transport light loads with a robotic arm on board. This document describes the methods used for the design and construction stages of the prototype in its mechanical, electronic and software layers. The results obtained in tests carried out in different conditions are also presented.