Design Of Mobile Robot’s Remote Control System Based On Network

Mobile robot’s remote control system based on Internet is one of the focuses of present robot research. In this paper, the software of mobile robot network control system based on C/S model, as well as the network communication protocol has been designed, and mobile robot’s remote control platform has been built. The main work of this paper is as following.1. According to the functional requirements of the mobile robot’s network control system, wireless LAN is adopted as network access. NAT-Traversal is realized through virtual servers (port mapping), and accordingly private LAN can be accessed via external network. By way of DDNS (Dynamic Domain Name System) technology, dynamic IP bounds to a fixed domain name and then the mobile robot can be remotely accessed and controlled by Internet users.2. The robot server and client applications are designed, and a message format of the network communication’s application layer is designed to improve the reliability of the network transmission between the mobile robot and a PC client. In order to realize the video transmission between the robot and client better, after the video image is captured by VFW, Xvid video image compression is adopted to compress the data.3. A laser range finder is used to obtain the distance information in front of the robot. The recursive mean filtering algorithm is used for laser’s interference data pretreatment, and then the obstacle areas are partitioned and merged as visualized graphics which is shown to the client.4. Remote control experimental which based on AS-R robot has been carried out and the experimental results show the good effectiveness of the developed control system.