Design Of Small Mobile Robot System Based On Android

Mobile robot system which consists of many subsystems,for instance,decision makingsystem,motion controlling system and communication system, are a complexelectro-mechanical system.It is difficult to develop such a system for individuals.Now,quite alot of mobile robotic systems are developed on the basis of closed systems which are owned bymanufacturers.Such systems, which is based on special computers and using specialprogramming language and operating systems, costs a lot.On the other hand,for the now,manymobile robot systems are not humanized and they are controlled by keyboards,mouses,ect.Acheap,friendly robot system is needed imperatively.An ideal robot system should have friendly user interface,open architecture and beportable.What is more,if directive control is extended to remote control,It is must be moresituations for such a robot system to be used and the system will be enhanced a lot in the aspectof controlling convenience.This thesis adopts Arduino board and Android phone as the basichardware.These two parts communicate with each other by the Bluetooth,which can buildmobile robot platform rapidly.The system in this thesis using the MVC design pattern andJava&Arduino programming language are divided into different modules.The system designedhas functions of both directive control and remote control based on video transmitting.The mobile robot system designed in this paper is based on software modeling afteranalysis about the system.Firstly,the system is divided into several modules,for example,GUImodule,storage module and server module etc.In the center of actors,use-case diagrams aredesigned,so do interactive diagrams.For objects that change of state obviously,the statediagrams are designed,at last,activity diagram of the whole system is designedalso.Secondly,aiming at the software module,the software is programmedin detail,includingGUI, storage and communication part. Also,the motor driving is programmed.At last,test on thesystem was carried on,including directive control and remote control. The former is to test thedistance of Bluetooth communication and the latter is to test whether the server can transmit theorders and the quality of the video.Test results showed that the communication distance of android phone and slave machine is about10meters in directive control condition; For the testabout remote control,the server can transmit orders fluently.The frame rate is about3fps~10fps,and there is a time-delay of about30ms.