Control system of a mobile robot for coal mines

摘要

This paper describes progress in design of main control system (MCS) of the mobile robot TELERESCUER for inspecting coal mine areas affected by catastrophic events. At the introduction is described the whole project background and the next chapter deal with design of control system and communication between individual subsystems. The following part of this paper describes decision about migration to ROS operating system from the initial design based on Windows operation system. The last chapter focuses on design and testing of the serial optical communication module.