Sensor integration that helps remote operation of a rescue robot

Abstract: This paper describes work on improving the remote control of a robot being developed in cooperation with the fire department. The robot is called FUMO ™ and meant to be used at operating conditions where it would be inappropriate to send people. This project was carried out by two students from the Master's program focuses on embedded systems at KTH. The work on which this report describes has been part of a larger project that developed the second generation FUMO ™ for the third. This paper describes work on the implementation of the four solutions, and how these help remote execution. The solutions are a pan and tilt camera mount, two-way audio communication, laser scanner for mapping and an improved user interface. Techniques used for example to control the camera mount with Pelco D protocol. Sound solution based on SIP telephony. Mapping system uses the ROS robot operating systems with an open source code. This paper also contains suggestions for future improvements to develop long run. By replacing the motor controls that can feed back movement data. There are also suggestions to improve the mapping system and to create a more autonomous robot. There are also suggestions to improve night driving and better layout of the hardware inside the electronics boxes.