The Research Of Telepresence And Teleopration Technology In THMR-V And The Realization Of The Automatic Aiming Antenna

Smart car, which is also called Intelligent Mobile Robot or Autonomous Land Vehicle, is one of the important branch in the field of robot research. It makes great effect on the research of the telepresence.Taking the THMR-V(Tsinghua mobile robot) as the prototype, we have do some discuss and research on some advanced technology used in the intelligent mobile robot, such as: computer technology,control technology,information disposing technology,communication technology and sensor technology.Controller design is one of the key techniques for control research of intelligent mobile robot. For high-speed autonomous navigation robot, the controller should have good real-time characteristic, high control precision and nice robustness. In this dissertation, according to the virtue of the fuzzy control algorithm and PID algorithm, we propose a hybrid fuzzy logic control algorithm by combining the conventional PID algorithm and fuzzy algorithm. The algorithm has been verified by experiments, and the result shows that it has good real time performance, robustness and high control precision, and can meet the needs for high-speed autonomous robot based on vision navigation.In the research course of the control technology, we have discussed the robot path image understand technology which is based on ATN. We put forward a real-time,robust structured path understanding algorithm. We have also done some performance analysis for this algorithm.At last, this dissertation introduces the improvement of the automatic aiming antenna.