Study Of Teleoperation System And Path-Planning Of Mobile Robots

Outdoor mobile robot, also known as intelligent vehicles, its research began in the 70s of last century, the first major funding support is from the military, early applications have focused on military research, such as military reconnaissance, space exploration, nuclear power plants and other hazardous environments. Now, the applications in everyday life have broadly increased (such as transport, social services, etc.). From the 80's in last century, many government departments and related organizations have developed a development plan in this regard, a number of large automobile companies have also sought the cooperation of research institutions and development.Teleoperation is the main means for controlling outdoor mobile robots. It determines the reliability and the fields of the mobile robots. This paper introduced a type of teleoperation system for multiple mobile robots. Improved image redio system ensured the image transmission channels of coherent image clarity. Improved new data transmission system ensured that the data transmission is stable and reliable. Added of the guided remote control mode has increased operating flexibility. Because of adding the GPS electronic map, the operator has wider view. And we also designed a friendly man-machine interface and a good manipulative multi-functionary teleoperation terminal. Some preliminary experimental results verified the stability and the reliability of the system in performing teleoperation in complex environments in variety of fields.Another key technology has been discussed in this paper:the path planning. After introduced several commonly path planning methods, the fuzzy control artificial potential field method is proposed and simulated in the simulation software. Introduced one kind of indoor mobile robot platform, and many experiments has been done. The results of experiments show that the new path planning method described in this paper can overcome the problem of the local stable point. In the end of this paper, concluded 3 points of the drawbacks and proposed the future research directions.In summary, two keys of the outdoor mobile robot has been discussed, many experiments has been done, the experiment results show that the conclusions described in this paper could improve the mobile robot's control flexibility and intelligent.