CSUB: Design and modeling of an autonomous screw-driven amphibious vehicle

Abstract

The ever-expanding frontier of applications demands that mobile vehicles navigate challenging, complex, and rugged terrains, as well as diverse environments. In this paper, we presented the novel design of an autonomous amphibious vehicle, driven by Archimedean screw mechanisms. Hydrodynamic simulations were conducted to analyze the propulsive characteristics of screw mechanisms in water. Particularly, an innovative screw-propeller integrated structure was proposed. At a rotation speed of 1000 rpm, the generated thrust of the integrated structure increased by 50 % compared with the original screw, indicating a significant improvement in propulsion performance. Simultaneously, we analyzed its contact with the terrain by using the discrete element method. The process was simulated through a co-simulation involving multi-body dynamics, which presented an analytical method for investigating vehicle-terrain contact mechanics. Finally, a series of performance and field experiments were carried out. The vehicle successfully traversed various terrains including sandy, gravel, and grass roads, overcoming a 5 cm high obstacle. Furthermore, it autonomously executed offshore and landing movements, and showcased excellent amphibious trafficability at the coast. Overall, our research provides valuable insights into the development of autonomous screw-driven vehicles, offering a wide range of application prospects.