Research And Implementation Of Networked Control Systems For Mobile Robot

Networked control means that the local computer monitors and controls the remote equipment through networks. It can be used in many fields, such as the remote works in dangerous environment, telemedicine, long-distance education, and it has wide application areas.In this paper, a networked control system for mobile robot based on the C/S mode is designed and implemented. Remote control of the mobile robot is implemented through combining the short-range wireless communications with the cable network. According to the feedback information of robot's wheel status, the routing information of robot can be shown in client in real time. This main work of this paper is listed as following aspects.Firstly local control of the mobile robot, communication between server and mobile robot are realized by wireless communication. According to the system embody situation, the characteristic of various technologies of short-range wireless communication, LSD-RFC1100B wireless data transmission module is designed for complementation of communication between server and mobile robot. Besides original wireless communication protocol of the module is modified to meet the system reliability requirements.Secondly collection, transmission, presentation and preservation of the video of mobile robot are achieved. Following methods are adopted to deal with the problems of large amount of data transmission and real-time high requirements. Video compression is adopted to reduce the throughput. Flow control, congestion control and timestamps provided by the JMF-RTP mechanisms are adopted to pledge real-time video transmission reliability and continuity.Finally network communications between server and client are implemented. Connection-oriented Socket technology is adopted to assure the reliability of transmission. On this basis, program design and implementation of client and server are come true. And the whole system is tested through experiments.