Design Of The Embedded Remote Motion Control System For Mobile Robot Based On Wlan

With the development of robot technology,the technology of robot remotecontrol is not only applied in the military field but also used more and morewidespreadly in daily life.It has an irreplaceable role especially in the dangerousworking environment such as nuclear radiation environment monitoring, spacesearch,etc. In recent years the Internet is developing very rapidly,its convenience andcheapness make the combination of the technology of robot and Internet become anew research hotspot,and the development of embedded technology becomes the linkof the two.Starting from the features of embedded platform and the function requirementsof the remote control of mobile robot,this paper puts forward a kind of mobile robotremote control scheme which is based on embedded microprocessor and Linuxoperating system.In this scheme, the camera collects the image data to themicroprocessor,and the data will be deliveried to the computer after beingcompressed.The image information is displayed on PC through man-machineinterface.The operator can see the current environment of the robot through the videoand then send the control instruction.The thesis is focus on the Linux system drivingof the mobile robot device and the remote communication between PC and mobilerobot. The robot is controlled by PC through a local area network.We have built asimulation experimental platform for monitoring and made the experiment of datatransferring between the robot and the host computer and the robot motioncontrol.The experimental results show that the system realized the requiredcommunication and control function.Because of the bad influence on the robot remotecontrol system due to time delay,a BP neural network is used to predict the delay,andthen use Smith compensation algorithm to compensate the errors resulting from delay.Simulation experiments have proved the validity of the control method. This paper is arranged as follows:First， the research background andsignificance of this topic are explaind, states the development of the mobile robotmonitoring technology both at home and abroad are discussed. Secondly,the robotremote control communication principle and control technology are introduced, thehardware design of mobile robot is analysed. Then, the paper analyzes theprogramming and transplantation in cross-compiling environment, and introduces thedesign of drive,the control program and PC monitor interface design. The fourthchapter presents the experiment process and experimental results. The fifth chapterdiscusses network delay forecasting method based on a BP neural network, sets thetime delay control system model of the Smith compensation in Simulink, on which asimulation experiment is made.