Research On Mobile Robot Control System

The research on Mobile Robot is a hotspot in Robotics. Mobile Robot have attracted the attention of a lot of researchers. This is due to the great application potential of Mobile Robot. If Mobile Robot is integrated with the technique of network, the scope of application of Mobile Robot will be enlarged remarkably. The development of it will immensely influence human production and life.The Mobile Robot has close relation to many technologies such as artificial intelligence, control theory, sensor technology and computer science. This thesis presents a study on the robot opened and distributed control system, which can be applied for Internet-based telerobotic system.At first, the research status of Mobile Robot and robotic teleoperation is discussed. The research area of Mobile Robot and robotic teleoperation is also included in the first chapter. Then, chapter 2 introduces the structure of ZJMR, which is the experiment platform of the control system, and the design of some main modules. In chapter 3, JMS, a message-oriented middleware is introduced, which is used for the communication technique of the system. After the analysis of different architecture of Mobile Robot, we develop a control system based on a multi-agent concept for autonomous Mobile Robot. In chapter 4. The design of deliberative agent and reactive agent and other modules is also introduced. In chapter 5, we analyze the behavior of autonomous Mobile Robot. Then we design a behavior-based fuzzy control method for Mobile Robot. On the basis of the control system, an Internet-based telerobotic system is constructed. The user can teleoperate the mobile robot through the system.