Research Of Mobile Robot Remote Control System Based On Wireless Network

Mobile robot is an important branch of robot technology. The performance of the control system directly determines the stability and precision of the robot system. When wireless network technology is applied for robot communication system, it brings many improvements. On the one hand, this method breaks through the limitation of the robot controlling distance and implements the cross-region remote control. On the other hand, the robot controlling systems can interact and collaborate with the intelligent equipments based on network interconnect. More and more network resources could be fully utilized.According to the deficiency in remote control research at home and abroad, we designed the robot embedded remote control system based on the wireless network communication medium. The system took the mini wheeled mobile robot as the research object and the stability and expansibility as the design principles.We designed the whole system into a distributed control system of the upper/lower computer with a high flexibility. The lower computer was constituted of ARM9 main control board, motion control board and the sensor data acquisition board. Both of the slave computers were based on RS485 bus, which increased the expansibility. The motion control board was composed of the ARM7 microprocessor, Atmel 8 MCU and gyroscope. The software was designed on the requirement of multitask, high performance, real-time and cross-platform communication. The previous tasks included real-time transformation of the embedded Linux OS, the porting of the Linux OS, the driver of the USB wireless net card. We adopted increment type PID algorithm improved the control precision of DC Motor. In order to insure the reliability of the data transfer, the protocol of the serial port and wireless communication were customized. Also a friendly human-machine interface was necessary.Aiming at the path planning in mobile robot system, we put forward a scheme which was a combination of the global path planning and local path planning. We adopted the curve fitting method to find the optimal path and obstacle avoidance algorithm to avoid the unexpected obstacles.The experimental data and simulation results showed the mobile robot remote control system improved the control precision, guaranteed the real-time performance and fulfilled the requirements.