Research On Mobile Robot's Tele-operation System Implementation Based On Java

Moblie Robot's Tele-operation is one of the hot topics in robot field recently. Before the appearance of internet, the Tele-operation System is very complex, and it progresses slowly. Last 90th, the great improving of internet tecknology brought a bright future to Moblie Robot's Tele-opreation field. Java became the most widely used language on internet for its feature of "Write once, run anywhere" and OOP programming.This dissertation implements two kinds systems, one is based on C/S, and the other is based on B/S, it also discusses the video trasmission technology. Taking Pioneer2 Robot as a platform, a system based on C/S is implemented. The system sets up a Java class library by SWIG(Simplified Wrapper and Interface Generator)and JNI(Java Native Interface), accomplishes the remote invocation by RMI(Remote Method Invocation). Then the C/S system is extended to a B/S system. A J2EE(Java2 Enterprise Edition) Web server and an applet are added. For the vedio transmission technology in Moblie Robot's Tele-opreation, two kinds of vedio transmission system on C/S are implemented, one is based on RTP(Real-Time Transport Protocol), the other is based on TCP(Transmission Control Protocol). The dissertation compares and analyses them. Besides,an B/S vedio transmission system based on TCP is implemented and used into the Moblie Robot's Tele-operation.The experimentation proves that the Moblie Robot's Tele-operation system blue prints putted forward in this dissertation which based on Java is doable.