Design and implementation of a mobile robot used in bomb research and setup disposal

Abstract

In this study, a mobile robot which can be used for bomb research and dispose of a bomb setup with a remote control has been designed and achieved. Also, a visual operator interface program has been written in Qt- Creator environment which supports different operating systems so as to carry out remote control and tracking the mobile robot. The mobile robot which has a high ability of mobility such as turning around its own axis has an Acorn RISC Machine (ARM) based control board, a high definition moving camera and a moving arm on which there is Bomb Setup Disposal Weapon (AK-ER) to intervene bomb setup in need. In the study, ARM based control board has been programmed by transferring C++ based control software to device with File Transfer Protocol (FTP) after compiling the software with arm_linux_gcc compiler. In the system, User Datagram Protocol (UDP) has been used for communication between mobile robot and operator center and for robot control functions; Transmission Control Protocol/Internet Protocol (TCP/IP) has been used for image transfer. The achieved mobile robot has proved that it can be used by security units passing all the tests successfully.