Autonomous control of a mobile robot to explore areas with difficult terrain

The article presents a design solution of a mobile robot dedicated to autonomous movement in hard-to-reach places. The 3D printing technology made it possible to make a mechanical structure adapted to the actuators and electronic elements with which the robot was equipped. To control the mobile robot, a Raspberry Pi 2 microcomputer and an Atmega328P microcontroller were used, which allows the robot to be controlled via WiFi or a game controller for PlayStation3 using Bluetooth communication. In addition to remote control, the rover has an implemented algorithm of autonomous operation with simultaneous image transmission.