Design And Implementation Of A Portable Mobile Reconnaissance Robot

Portable mobile robots have the characteristics of small size, strong maneuverability, flexible steerability, and good portability. They can adapt to the complex environment, and realize the effective detection of the surrounding scene, and are useful in a variety of applications, such as disaster rescue, anti-terrorism, exploder clearing, military operation and nuclear facility inspection.This paper presents the design and implementation of a portable mobile reconnaissance robot. It is a small robot which is 32cm×26cm×10cm in size and 3.5kg in weight. It has two 20cm long swing arms on its left and right sides for obstacle negotiation. The robot consists of a body framework, a track driving mechanism and a swing arm driving mechanism. The hardware platform of the robot control system includes a main control module, a communication module, a power module and a multi-sensor information acquisition module. On the basis of the hardware platform of the mobile robot, the design of the software of the robot is carried out. The software includes a main program, a function control program, a serial communication program and a wireless communication program.Experimental studies of the basic performance of the proposed robot are conducted. The basic performance experiments include horizontal movement experiments, obstacle negotiation experiments and sensor function experiments. Horizontal movement experiments show that the maximum linear motion speed of the robot is 1.61m/s, and the deviation distance and speed of steering motion is negatively correlated. Obstacle negotiation experiments include three kinds of the robot obstacle negotiation methods which are the direct obstacle negotiation method, the forward climbing method and the reverse climbing method. The results show that he maximum height of these three methods is 80mm,100mm, and 230mm respectively. Also the advantages and disadvantages of these obstacle negotiation methods are analyzed.Based on the platform of mobile robot, this paper presents a novel design of a mobile robotic navigation system for human based on vibro-tactile perception. The system is composed of five components:the implemented robot, a Kinect equipment, ZigBee wireless modules, a vibro-tactile bracelet device and a computer. The system can provide the navigation function for human combining the user’s posture information given by the Kinect sensor mounted on the mobile robot and the feedback of the vibro-tactile bracelet device, guiding the user along a planned path. In the navigation process, the distance and angle deviations between the user and the robot are controlled in a certain range, thus ensuring that the user reaches the destination safely and accurately. The practicability of the wearable vibro-tactile bracelet and the effectiveness of the proposed system are verified by real-world experiments.