ABSTRACT
Current autonomous robots are limited to work only in one single environment. For
example (swimming and submerging) in water, (walking, jumping and mobile) on
ground or (flying and floating) in air. However, in case of seeking a series of
autonomous operations that required to be held in different environments, either
many robots should be used, or a single robot that can operate in different
environments should be established. Therefore, this research is aimed at designing a
single autonomous robot that can fly in air -as Unmanned Arial Vehicle (UAV)-, sail in
water -as Unmanned Surface Vehicle (USV)- and move on the ground-as Unmanned
Ground Vehicle (UGV)- and this is a new category of robots which could be called
Unmanned Multi-environments Vehicle or Autonomous Multi-environments Robot.
The mathematical model of the proposed robot is derived using kinematic and
dynamic model. Then a linearized version of the model is obtained. The used control
approach is based on the linear proportional derivative Integral controller (PID) using
nested control loops and applied to the model. Finally the behavior of the Robot
under the proposed control strategy is simulated and observed in 3D plot Simulink /
Matlab.