3.4. Control of motors and camera
In order to control the robot at distances up to 16 km, a remote control was realized. It consists of two units. One is the base unit, a computer that a user is operating via a graphical user interface. The second unit is a board computer on the robot itself, situated in one of the spheres of the robot. A wireless radio circuit allows controlling velocity and moving direction of each drive. A Matlab program was developed, which sends commands at a frequency of 2.4 GHz to the board computer. This information is then transmitted to the position controller. For the prototype line current is used as power supply. A hardware diagram of the motor control is depicted in Figure 4 (a).