Abstract. The paper considers the control system of the autonomous mobile robot CS-7 with eight supporting legs, installed on four hard frames in pairs. Advantages of the chosen design: energy absence to support machine weight and simpler algorithms of trajectory and reference points motion management.Onboard control is designed as a scalable, modular distributed low-level microprocessor system, which comprises two major subsystems: information measurement for processing sensors data and robot actuators control.Supervisory control mode is supported by the vision system based on timeof-flight cameras and a set of ultrasonic and infrared sensors, geosteering module for local and global robot positioning. Measuring information is transmitted to the control computer via Wi-Fi module. Software for the upper-level computer and library of functions for low-level units are developed for the implementation of various robot motion algorithms. Functions define the basic parameters of orthogonal movers depending on the given route and environment map.
The methods of sound location and search algorithms for sound sources by the acoustic system of an autonomous mobile robot are considered. The implementation scheme of the embedded speaker system is proposed, the results of experimental studies are presented.
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