The Design For Teleoperation System Of Mobile Robot Based On Embedded Technology

As an important part of the unmanned ground combat system, Man Portable Robotic System (MPRS) plays a vital role in the Future Combat System. The teleoperation is an important way of MPRS navigation control. The traditional master-slave teleoperation technology can hardly meet the demands of MPRS which needs to fulfill variety of combat missions in a complex battlefield environment. Aimed at the applications of MPRS, the teleoperation system with characteristics such as: high portability, long distance control and hybrid control mode, has been investigated, which will be of great importance to the practical use of MPRS.Firstly, the requirement of teleoperation system is analyzed based on the background of MPRS, and, according to these demands, the general distributed architecture of the teleoperation system has been designed, which is composed of teleoperation terminal and information processing unit. The system provides hybrid control mode, combined master-slave teleoperation with supervised control. The teleoperation terminal adopts embedded design technique.For supervised control, a teleoperation method based on key way-points planning has been investigated and realized. A key way-points planning algorithm is given based on the segmented planar terrain model. Problems, including forward mapping, reverse mapping, as well as route generation and dynamic adjustment, have been solved. In addition, theoretic analysis is provided for the teleoperation error.The embedded design technique is adopted to establish the teleoperation terminal. Communication between teleoperation terminal and information processing unit is realized through the wireless local area network. In the indoor test environment, adopted master-slave teleoperation, luna rover is well contorled, and adopted supervised control, Pioneer3 AT robot is well controlled. The experiment result showed that under the key way-points planning based supervised control, the path tracking error of the teleoperation system can be limited within an rational bound.