This repository documents the design and implementation of X-Treads, an experimental omnidirectional ground vehicle developed as a team project at IIT Indore.
The vehicle uses four tread modules arranged in an X-configuration to achieve eight-directional movement without yaw, while retaining the robustness of tread-based locomotion on rough terrain.
Conventional wheeled and tread-based vehicles struggle with:
- Limited maneuverability (require turning radius).
- High slippage/friction during diagonal movement.
- Poor adaptability to irregular terrain.
The X-Treads project explores whether tread modules arranged in an X-shape can combine the benefits of omnidirectional mobility (like mecanum wheels) with the terrain adaptability of tracked systems.
- Design an X-configured tread system for omnidirectional mobility.
- Develop a two-level control system for directional command execution and feedback correction.
- Implement a tread lifting mechanism to minimize redundant friction during diagonal motion.
- Build a functional hardware prototype integrating mechanical, electronic, and software subsystems.
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Tread Configuration: Four independent tread modules mounted in an X-shape.
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Tread Lifting:
- Implemented using servo motors and fishing line mechanisms.
- Redundant treads lifted during diagonal motion to reduce drag.
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Chassis Design: Fabricated lightweight frame to mount electronics and treads.
- Raspberry Pi: High-level controller running a Pygame-based GUI for user commands.
- Arduino Mega + RAMPS: Low-level controller driving four stepper motors (one per tread).
- Servos: Controlled tread lifting system.
- IMU (MPU6050): Provided orientation feedback for real-time correction.
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High-Level Controller: and software
- User inputs directional commands (8 possible directions).
- Generates open-loop control signals for tread actuation.
- Controller code on rpi5 with imu_data and pygame dashboard: Controller
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Low-Level Controller:
- Processes IMU data to correct deviations in direction.
- Implements a feedback loop for stable trajectory execution.
- Successfully demonstrated omnidirectional movement (forward, backward, lateral, and diagonal) without yaw.
- Tread lifting mechanism reduced friction during diagonal travel, improving energy efficiency.
- Control architecture allowed smooth execution of direction changes with real-time IMU correction.
- Enhance tread lifting mechanism with more robust actuators.
- Integrate autonomous navigation algorithms for self-driving capabilities.
- Optimize tread design for outdoor, uneven terrain operation.
- CAD models of X-Treads mechanical design.
- Control code for Raspberry Pi (GUI) and Arduino Mega (motor + servo control).
- IMU feedback integration scripts.
- Experimental test data and performance evaluation.