A light, low cost, half-tracked under-vehicle inspection device: Realisation and positioning

The need to inspect road vehicles under frame, in conditions of emergency or danger, is a topic considered an increasingly frequent operation in survey, emergency or investigation scenarios. In this paper a light, low cost, half-track under vehicle inspection device is realized and some performances are evaluated. An on-field positioning model is proposed to know the Unmanned Ground Vehicles (UGV) position, only by measuring the rotation of the on-board shafts of the motors, avoiding any other UGV position sensors. The model is evaluated by tests on field.