Fig. 1.
Example of destroyed panel houses in Kharkov due to the war
Fig. 2.
Classic mobile robots for conducting research in damaged buildings
Fig. 3.
A small-sized mobile robot design sketch
Fig. 4.
Classic mobile robots for conducting research in damaged buildings
Fig. 5.
Assembled housing design of a small-sized mobile robot a) side view; b) front view
Fig. 6.
Microcontroller modules a) ESP32-CAM [7], b) OpenMV Cam H7 R2 [8], c) Raspberry Pi Zero W [9]
Fig. 7.
A small-sized mobile robot control block diagram
Fig. 8.
Generalized control algorithm for a small-sized mobile robot
Fig. 9.
Assembled small-sized mobile robot prototype general view
Tab. 1.
Results of testing the operating time of a mobile robot and finding the distance of a stable control signal with streaming video transmission
| Parameters | Value |
|---|---|
| Test results (without additional antenna) | |
| Continuous operation time | ~ 15 hours |
| Video stream transmission (open area) | ~ 50–70 meters |
| Video stream transmission (reinforced concrete structure) | ~ 35–55 meters |
| Test results (with additional antenna) | |
| Continuous operation time | ~ 15 hours |
| Video stream transmission (open area) | ~ 170–200 meters |
| Video stream transmission (reinforced concrete structure) | ~ 100–150 meters |