In order to address the problem of control architecture on Urban Search and Rescue (USAR) robotic system, a comprehensive victim's autonomous search and rescue robotic system based on biomimetic sensing technology is developed, and an intelligent robot control architecture based on orthogonal perception information is proposed. The intelligent control architecture contains sensory system, data processing, deliberative layer, priority decision module and so on. Experiments indicate that the search and rescue robotic system utilizing proposed intelligent control architecture search and discover victims promptly and efficiently.