Control system of embedded non-line-of-sight mobile robot

In this paper, the control system of embedded non-line-of-sight mobile robot using ARM (advanced RISC machines) processor as the controller and Linux as the operation system is proposed. The non-line-of-sight mobile robot adopts 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 realize the non-line-of-sight real-time transmission of control commands, site images, robot states and site environment variables. The non-line-of-sight mobile robot has two modes which can be switched 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 position, then by information fusion of these detection data and control algorithm, the robot can run automatically. Experimental results show that the robot has good operation characteristics and real-time image transmission characteristics.