Design And Realization Of Outdoor Mobile Robot Telepresence Driving System

Mobile Robot technology is always keeping ahead in modern science and technology and involves many subjects. Research work about it is not only theoretically meaningful but also useful. Intelligent mobile robot research is an important branch of robot research. It can be divided into outdoor mobile robot research and indoor mobile robot research according to work environment and application field.Cybernetics is a science that researches adjusting and controlling disciplines of various systems. Controlling technology following it is widely used in all kinds of industrial equipments controlling. Considered that the whole intelligent mobile robot system is a multi-layers controlling system, and chosen controlling method directly decides function and structure of the system, through repetitious researching and testing and according to the reality, the author decided to use PID incremental arithmetic as the controlling arithmetic of the system. Thus an outdoor mobile robot (autonomous land vehicle) telepresence system is designed and realized: Turn Table's Servo System and Steering Wheel Force Feedback System.Because we use step motor as actuator, we adopt PID incremental arithmetic. This arithmetic has no accumulation item, so it has no integration saturation and avoids large overshoot and oscillation. But the incremental arithmetic may produces proportional saturation and derivative saturation and this will slow dynamic process of the system. Incremental compensation arithmetic can be used to restrain proportional saturation and derivative saturation.Old system uses multi-softwares to monitor and it's not convenient for data statistics and comparison, we have redesigned a new monitor software and realized it. During the research of the new monitor software, we designed principle computer model and subordinate computer model in detail, including main window display, data display, state switch and data receiving. Serial communication is used between principle software and subordinate software.Based on above design we have realized outdoor mobile robot telepresence system. Compare with the old system, the new system has higher remote driving velocity, higher switching frequency between driving states and higher flexibility to various road conditions.