Wanayuth Sanngoen creator Afzulpurkar, Nitin V. Chairperson Manukid Parnichkun Examination Committee Bohez, Erik L.J. Examination Committee Sripatum University Scholarship donor text series technical report th Pathum Thani, Thailand Asian Institute of Technology 2006 continuing eng 73 p. : ill. A limitation of an autonomous mobile robot for moving in ragged terrain exists. In some situation, it can not move through target trajectory because the type of driving system is not appropriate. To reduce this boundary, the new inventive concept of mechanism is presented in this thesis. The mechanism is design in triangle shaped tracking wheel in which inner construction can adapt depended on that terrain, thus this kind of wheel can move through all terrain. Four ball screws, which are the most important equipment in this study, are extruded and contracted in order to make tracking belt tight when the robot climbing up and down the stair. In tracking wheel system, 12 DC motors are used. 6 DC motors are utilized in the part of angular adjustment, 4 DC motors are applied for extrusion and contraction and other 2 DC motors are used for driving tracking wheel. Each DC motor is controlled by a microcontroller, AT89C2051 and a personal computer is as graphic user interfaces that can communication with microcontroller via serial communication RS485 A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology Thesis (M.Eng.) - Asian Institute of Technology, 2006 Mobile robots Asian Institute of Technology. http://203.159.5.9/ait-thesis/detail.php?q=B10353 http://203.159.5.9/ait-thesis/detail.php?q=B10353 240209 20260817161525.0