Research Of The Remote Monitor System For Mobile Robot Based On ARM And WLAN

Under the existing technical conditions, it is difficult for autonomous mobile robots tocarry out tasks in complex environment. To solve this problem, remote control can beemployed using monitoring images provided by the robot. Thus, the robot can accomplishtheir tasks in a semi-autonomous manner. Due to the flexibility of mobile robot, traditionalwired monitoring cannot be conducted. Fortunately, the development of wireless LANtechnology provides convenience for the remote monitor of mobile robot.On account of the economization, miniaturization, flexibility, intellectualization andreliability of robots, this paper selects ARM9microprocessor as hardware core, and embeddedLinux system as software platform. Video coding and wireless LAN technology are used torealize the remote monitoring and control of the mobile robots.The following several aspects will be discussed in this dissertation:1. Based on the research of ARM9microprocessor and control structure of AmigoBotmobile robot, design the system hardware experimental platform and establish the softwareoperating environment, including the transplantation of Bootloader and Linux kernel used inS3C2440A microprocessor, as well as the construction of Yaffs2root file system.2. By comparison, a stable USB wireless adapter is selected and the corresponding Linuxdriver is transplanted. Thus, wireless local area network can be constructed without the router.What’s more, the mobility of the remote monitor system can be enhanced by USB wirelessadapter’s access point function.3. According to the study of JPEG coding algorithm, the special DSP chip iP2970forimaging sensor is used in M-JPEG video coding. The operation time of S3C2440A coding issaved and the amount of video data is reduced, then the real-time performance of the videonetwork transmission process is improved.4. Transplant ARIA, the underlying software interface system of AmigoBot, to embeddedLinux system. Thus, ARM can transmit the control instruction received by wireless networkto the underlying control system of mobile robot with this interface through serial port.Finally, system client and server software are designed using QT and OpenCV, etc. Theexperimental tests of remote video surveillance and control for mobile robot will beconducted to verify the effectiveness and feasibility of this system.