Outdoor navigation with a spherical amphibious robot

Traditionally, mobile robot design is based on wheels, tracks or legs with their respective advantages and disadvantages. Very few groups have explored designs with spherical morphology. During the past ten years, the number of robots with spherical shape and related studies has substantially increased, and a lot of work is done in this area of mobile robotics. Interest in robots with spherical morphology has also increased, in part due to NASA's search for an alternative design for a Mars rover since the wheel-based rover Spirit is now stuck for good in soft soil. This paper presents the spherical amphibious robot Groundbot, developed by Rotundus AB in Stockholm, Sweden, and describes in detail the navigation algorithm employed in this system.