Research Of Network-Based Remote Monitor And Collaborative Control System For Multi-Robot

With the maturity and development of computational technology, SLSI, monitor theory, artificial intelligence, sensor technology, robot systems are wildly applied in different areas such as industrial production, military investigation, nuclear industry, Aeronautics & Astronautics, service trade, medical appliance. Research on the network-based remote monitor and collaborative control system of multi-robot has become a new direction of robotics.A general framework of network-based remote monitor and collaborative control system is proposed in this thesis. With the two robots in the author's Lab as the research object, the platform of the multi-robot remote monitor and collaborative control system is constructed. Mutual communication between remote monitor terminal and robot server is realized in the server-client model based' on TCP/IP protocol, client terminal software and server terminal software are written with VC++ language. The movement of the two robots is under remote control by the client terminal software and realtime reception and direct display of the sensor data from the robot servers is realized.A DirectShow-based MPEG-4 video transmission system is also designed in this thesis and its architecture is described. The method for creating a Filter Graph with the acquisition of equipment, the strategy of adopting multicast technology to send and receive video data and the scheme of realizing the real-time network transmission by using RTP protocol are analyzed in detail. Programming helps to accomplish the complete process from collecting, coding and decoding, network transmission and play of video data. Last but not the least, a kinematics module and kinematics formula is created for the two robots of my Lab to establish the foundation of analysis and control of multi-robot collaborative system, which proves correct by experiment.