Study On The Wireless Communication System And Remote Monitor Platform Of The Wheeled Mobile Robot

Based on the requirement of remote data transmission of the wheeled mobile robot, the study of this paper focuses on the wireless communication and remote monitor of the mobile robot and proposes that the wireless communication solution based on the micro-power short-distance wireless communication technology. This paper deeply researches the key technology, system architecture and function implement of each parts relating to the wireless communication solution, and put forwards own opinion.First, driving structure and computer control system of mobile robot are presented simply. Base on the above presentation, problems needed to be resolved in the wireless communication system are put forward, and communication network architecture is built. Then, this paper proposed that befitting solution of the wireless data communication according to data transmission requirement of the wheeled mobile robot, and designs the hardware circuit of each part about wireless data communication platform. This hardware platform meets requirement of the communication distance, rate and anti-jamming capability, low-power. After the hardware platform is completed, error control and link manager protocol in data link layer, including flow control, error control and link management, are discussed in detail in this paper. Mainly, stop wait ARQ (SWARQ) protocol and Go-Back-N ARQ (GBNARQ) protocol are researched and described deeply, Base on above protocol theories, effective data exchange protocol and peer Link Manager Protocol (LMP) are adopted in communication system to guarantee the reliability of data communication . In additional, by building internal state transition of communication system, stability of data exchange (protocol) running and data-link are enforced effectively. Finally, bottom communication driver and software algorithm implementation of the communication system are developed and presented in detail, some key implementing funs and data structures are shown and some key config parameters of the system software are found by experiments. At end of the paper, by the reliability experiments of data communication, the result shows that Frame Error Rate (FER) is extremely slow and meets the requirement of datacommunication and remote monitor application of the wheel mobile robot completely.