Research Of Wireless Remote Cooperative Control Technology And Implementation Of System Platform

With the development of the wireless network technology and remote control theory, the wireless remote control technology becomes a popular research and application field.In the dissertation, firstly, the correlative theory of wireless remote control technology and software realization methods is presented. Secondly, it studies the multi-robot system and the theory of multi-robot cooperative control, introduces cooperation of multi-robot, and methods and process of designing multi-robot system, focused on the discussion of a layered control architecture for multi-robot cooperative system. Then, formation control of robots based on behavior is discussed, it introduces basic formation of multiple robot formation and Formation control for multiple robots, and stresses on Synthesis Algorithm of formation control of multi-robot based on behavior.Based on the theory research, a suit of robot wireless remote control system using two P3-DX mobile robots as the controlled object is set up. We build up the wireless local area network in the lab; design the hardware structure and software structure of the system. A set of software development library of robot remote control system is designed and developed. Finally, the whole software system is realized based on this library.The test result shows that the robot wireless remote control system designed in this thesis can operate two robots separately or cooperatively. It has some advantages such as convenient operation, friendly interface, adapted extension and so on. And it is a good environment for research on remote control. It also can be regarded as a good teaching platform for remote control course.