Research On Remote Control System Of Mobile Robot Based On Two Driving Wheels

This dissertation concentrates on the research on the mobile robot based on two driving wheels. On the base of the kinematic analysis, it deeply researches real-time obstacle avoidance for the mobile robots. Then, It describes the hardware structure of the local control system for the mobile robot of two driving wheels and the monitored control center software on the base of remote control system, which is now under the development of our work team. Chapter 1, a survey of the significance of the research on the remote control system of mobile robot is given, together with the importance and progress in modern Internet technology used in robot system. And then it introduces the task of this dissertation.Chapter 2, kinematic model of the mobile robot of two driving wheels is built. The configuration modes of the robot's three wheels are given first, based on two driving wheels mobile robot in this theme, the kinematic constrain model and position kinematic model of the mobile robot are built. At last, the arithmetic of real-time obstacle avoidance based on the theory of VFF is built.Chapter 3, this chapter illustrates the local control system for the mobile robot of two driving wheels, consisting of designs of the master structure and designs of the hardware structure and software of the control system. The hardware structure of the control system is composed of DC-motor driver,position(velocity)feedback device,microcomputer control system,extension of image data memory,interface of single chip and GPRS module,man-machine interface,power supply module,ultrasonic distance measurement system. The emphasis is the design of ultrasonic distance measurement system and the analysis of its work character. Chapter 4, after illuminate the influence on remote control of communication Internet time-lapse, we generalize the remote control methods and the GPRS technology which consist wireless transmission of this system. In this chapter, all parts of remote control system of GPRS wireless transmission are described, after grasp the client/server model on the base of TCP/IP and SOCKET communication principles, we describe the monitored control center software developed by Delphi.In the end, the important results and conclusions of this dissertation are summarized, and the further research on this remote control system of the mobile robot based on two wheels driving is proposed.