Control System Of Embedded NLOS Mobile Robot

For the special environment such as life rescue in the earthquake, anti-terrorism investigation and other environment where people can not reach, a min-itype NLOS(non-line-of-sight) robot control system based on embedded system is designed and researched in this paper to complete image transmission in com-plex environment and to supply video reference for the manual monitor environ-ment in NLOS environment.The NLOS mobile robot adopts USB camera image acquisition and wireless network communication technique under Linux platform to realize the real-time acquisition and wireless transmission of the image, employs GPS and electronic map to achieve the positioning and tracking of the robot and uses Internet to real-ize the non-line-of-sight real-time transmission of control commands, site images, robot states and site environment variables.The NLOS mobile robot has two modes, manual control mode and auto-matic control mode. They can switch to each other by task level command sent by control terminal. In manual control mode, according to the real-time video, electronic compass and GPS electronic map, the operator can control running state of the robot by the USB control handle of the control terminal. In automatic control mode, the robot can automatically detect the obstacle, direction and posi-tion. By information fusion of these detection data and control algorithm, the ro-bot can run automatically.Finally, the experiment platform of robot system is built, and the informa-tion of video transmission and environment variable are tested to test the feasibil-ity of the system.