Abstract
In response to issues related to casualties and property damage caused by fires, this paper primarily investigates a deformable wheeled firefighting reconnaissance robot with functions such as fire source detection, obstacle avoidance, and map transmission. The control system of the robot is elaborated, with the main motion control system utilizing STM32 technology. Tests were conducted on the robot’s two motion capabilities (wheeled and legged), obstacle avoidance ability, reconnaissance capability, etc. The results indicate compliance with the design requirements.
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