3.1.2. Robotic Unit

The vehicle used for the execution of the experimental procedure is a crawler robot built on Dagu Rover 5 Chassis. A Raspberry Pi (model 3 B+) acts as the central processing unit for the robot. Communication between the robotic vehicle and the computer is achieved via a TCP/IP socket connection. As soon as the classifier determines the desired movement, a command is transmitted to the robot. A serial communication is established between the Raspberry Pi and an Arduino UNO microcontroller. Once a specified command is received by the Raspberry Pi, it is relayed to the microcontroller, which in turn uses a L298N H-Bridge driver module to control the motors of the robot. The experimental platform developed is illustrated in Figure 4.

**Figure 4.** Overview of the robotic unit used.
