OpenGL Based Off-line Programming System of EOD Robot

Aiming at the specialty of unknown unstructured environment in EOD operation, a novel OpenGL based off-line programming system of EOD robot was proposed. The system has a friendly human machine interface, which includes multiple video zone, control zone and simulation zone. The operator's sensing and understanding of the current situation of the EOD operation scene were enhanced. Furthermore, by building robot model, environment model and bomb model and using C-space method and heuristic searching technology the function was developed that the EOD robot could fetch the bomb semi-automatically, which greatly improved its operating performance, improved the operation security and efficiency and decreased the mental pressure of the operator.