Aiming the case that vibrations and shocks of micro rescue robot parts caused by the unsmooth locomotion of micro rescue robot, in order to ensure the smoothness of the micro rescue robot trajectory and no collision, eventually to arrive the desired position and orientation, based on the basis of the kinematics and dynamics, according to the micro rescue robot joint movement characteristics, trajectory planning use the D-H method and the track is divided into acceleration, constant speed, and the deceleration three motion segments to discuss, this is of great significance to solve the smooth of micro rescue robot to work in different environments and real-time control and accuracy problems.

In order to meet the mobile robot’s accuracy and speed requirements in processing obstacle information based on the study of the principle of ultrasonic and infrared distance measurement, the ultrasonic infrared measurements system is designed using Mega16L microcontroller. The hardware of the system, data fusion and software components were studied. Bayes estimation for the data fusion, which can greatly improve the measurement accuracy, was used. The human-computer interface and back panel algorithm were developed with the development language of LabVIEW. Experimental results show that the measurement error of the combined measurement system is in ± 1mm between 0 ~ 300cm, which can meet the design requirements and flexible operation.