2. Control architecture
Shown in Fig.1.The control architecture from the system proposed. There are 2 major systems in this
study, first is the system on the UGV and second one is the operator system. In the UGV system there are
2 main subsystems, first is the telemetry system that we build [8]. Second subsystem contains in UGV is a
Motion control. The second system is the Operator System, a system that enabled us to monitoring and
controlling the robot and also in here where the simulation was running to matched with the real
performance of UGV in real environment.