抄録
An onboard controller for water disaster rescue robot vehicle has been developed. This vehicle has four VCSW (Variably Configured Segmented Wheels), which produce a thrust force to any direction in water. The vehicle propelled by these four thrust vectors. The onboard controller consists of a micro-computer, motor drivers, a wireless tele-communication interface, and a voltage regulator. It controls the direction and the size of four thrust vectors according to the reference value. This reference value is send from the host computer to the onboard controller through wireless tele-communication line.
