Mobile Robot’s Control Research Based On Mobile-C

The development of computer technology and network technology, prompted the emergence of the mobile agent technology, and with the deepening research on distributed complex system, mobile agent technology rises and develops rapidly. Mobile agent is a program that can move between two or more hosts, used to complete the assigned task, because it can be created and sent to the robot to perform tasks dynamically during operation, and it can be used to deal with sudden unexpected situations.This thesis introduces the architecture of the mobile agent platform Mobile-C and its basic functions. Based on Ch development platform, making the mobile agent technology and mobile robot control technology close together, and through the Mobile-C sends mobile agents to control multiple robots. The Control host through multiple mobile agents to coordinate mobile robot to complete the task or handling unexpected happens. Mobile agents can run offline, and no need to maintain a real-time connection to the host. After the agent completes the task, through a new agent to accomplish new tasks. At the same time improving the robot control flexibility, this control method can save bandwidth of the network and reduce the the network delay. The main content of this paper is as follows.First, introduced the Mobile-C’s system architecture, working mechanism and the migration mechanism, and the Mobile-C control platform is set up on the control host and the BCRobot. In order to run Ch on the PXA270board correctly, upgrade the version of the Linux system.Second, writing mobile agents which contain control codes to control the operation of robots. To call the function easily, Mobile-C agent function library encapsulation is finished. In addition, the control system is tested by a simple experiment.Third, a multitasking agent experiment environment is designed to test the control system, and the availability and feasibility of the robots control system based on mobile-C.