Teleoperation Robot System Based On Mobile Communication Network

Although Teleoperation robot based on Internet has a broad prospect, most of works are still done within laboratory. There are some shortcomings needed to overcome before widespread use. Firstly, the controllers of robot such as industrial computer, notepad have low integration, large size and consume a lot of electricity; Secondly, the Internet access methods of robots such as twisted-pair or wireless LAN which have short control range and high access prices, have restrained the developments of Teleoperation of mobile robotics.This paper introduces the mobile communication networks into the remote operation control system to overcome above shortcomings. According to the analyzing characteristics of mobile communication network, this paper design a powerful, low power consumption, wide control range Teleoperation system after Theoretical study and experimental validation. This Teleoperation system takes full advantage of mobile communication network, provide anytime, anywhere access for users of Teleoperation system.This paper firstly does some testing according to the demand of Teleoperation system. After analyzing the impact of network delay to Teleoperation robots system, a Teleoperation system control and communication model base on Event mechanism are established.Teleoperation control strategy based on Event mechanism, has a bad impact on the fluency and real-time of Remote Operation. In order to reduce this influence, local path planning and global path planning are added to the above Teleoperation system. This paper first describes how to use genetic algorithms (GA) to fulfill global path planning and then does some improvements in encoding, applicable degree function and Genetic Operators, At last, local path planning using VFH is introduced, which includes the establishment of polar coordinates, the calculation of driving direction and speed.Then, this paper describe the implementation process of a remote control and transmission system which is composed of hardware, network control system, streaming media transmission system and client control software in detail.Finally, the remote control system based on the mobile communication network has been tested and simulated. Test results show that the Teleoperation designed in this paper can smoothly complete remote control of mobile robot. The simulation of global path planning and local path planning brought up in this paper shows that using path planning algorithms can be a good solution to the time delay of event-based remote operation system.The system has an open architecture, so it is easy to extend according to special application needs. The research in the paper has extensive application value.