Study On Internet-based Mobile Robot Web Control System

Telerobotics is a valid method in space exploring, deep sea prospecting,dangerous condition working and others. With the development of Internettechnique and increase of transmission speed through Web, the inexpensiveconvenience communication approach is provided for the telerobotics systems.Applications of telerobotics are being wider over Internet. Advantages areshown in some fields such as remote medical treatment, devices share and longdistance education. In this paper, a control system of mobile robot via Internet isstudied. According to the properties of Internet, a browser based multi-layereddistributed control system of mobile robot is built for experiment. Transmission delay influences the stability of Internet based control systems.How to reduce the affects of the delay is important to the systems. Based on thetest and analysis of time-delay, the change rules and classifications on thetime-delay are developed. The uncertainty of time-delay over Internet is studied.Finally, the control strategy and compensation scheme according to differentdelays are proposed.Asuitable control mode is given to user based on delay. In supervisory control mode, the remote mobile robot operates in a largelyautonomous mode built on the local intelligence, such as collision avoidance,path planning, self-referencing, etc. A synthesis approach is adopted hereincluding neural network, fuzzy control and Dempster–Shafer (DS) theory forsensor fusion to realize self-guiding and collision avoidance of mobile robot.Fuzzy controller performs path tracking. Neural network uses for objectrecognition. DS theory finally makes decision. Web sever plays an important role in the remote control system forinteracting between remote user and mobile robot. In this paper, intelligentagent technique is introduced to design web server. Logic structure and functionof intelligent agent are designed to manage users, robot, and information, etc. To meet multi-layered distributed system based on Internet, Web controlsystem is implemented using J2EE components based on Java, and joins withrobot system seamlessly. The system is easy to maintain and extend, and also isindependent of operating system. At last, the control system is tested, the results show the system capacity isstable, and validates the feasibility and correctness of the system.