Some Problems of Navigation System for Criminalistic Robot

In the paper authors presented some results of development of navigation system for criminalistic robot. Robot destination is to support police officers during forensic activities in the buildings when we have potential CBRN hazards. Robot is remotely controlled based on visual cameras observation but it has also autonomous navigation system. The robot is at the beginning of police action carry out hazard identification and, if they occur robot perform forensic activities. As part of its tasks is to make a photographic documentation of the event. This involves the registration status of the room a special 3D camera and take pictures of individual items and disclosed fingerprints. Then taken are indicated by the operator or the entire sample items. Charges are also forensic traces of biological and existing on-site chemicals substances. Robot should be able to perform most of the tasks normally performed by police forensic technicians. Big problem is when during forensic activities operator lost communications with the robot. By the existing on place CBRN hazards man can’t enter the building where robot is lost. At this moment start work system of autonomy. Robot must return the same way how it arrive till the moment when operator will get communication with them again. The paper presents the autonomous control system that was created for visual navigation for police robot. The algorithm implemented on the platform already been simulated and tested in MATLAB/Simulink. The article presents the results of running the robot with the new algorithm.