Wireless Remote Control Of Mobile Robot Based On Embedded System

For now, the robot remote control technology based on Wireless Network has increasingly got more attension than ever. It can be concluded that it will have good development trend and application prospect. But the client of most traditional long-range control system is developed in PC, and with the fast development of embedded technology, it makes it possible to realize the portable, low-cost, highly reliable client. Besides, for the data (especially video data) that the robot collects is very large in remote communication of mobile robot, and the available bandwid of current Wireless Network is limited. So it influences the performance of communication seriously; sometimes even causes the collapse of the control system. So the major work done in this paper is listed as following:1) Build the embedded system development platform based on S3C2410 processor and develop the client on the platform; As hardware components, Flash,SDRAM,touchscreen,usb wireless network card and other peripheral function devices are added to the system. For software components, embedded Linux is adopted as operating system and boot program,reduced Linux,file system and the driver of usb wireless card are transplanted to the target board; 2) To solve the contradiction between narrow band and a large quantity of data in the transmission, the paper proposes the improved RTP adaptive congestion control algorithm. Besides, the improved Elman network is given to forecast the utilization of network bandwidth. At the same time, adjust the sending rate of video stream according to the predictable results.3) According to the demand of the long-range control system, using the TMⅡA mobile robot as the controlled object, the client and the server of a friendly system interface are developed based on Socket technology.Simulation and experiment results show that the method in the paper minimizes the big delay and packet dropout problems of data stream in the process of the telecommunications, improves robustness,steadiness and real-time performances of the wireless remote control system, the system realizes real-time control of mobile robot and meet with the expected results.