Design And Realization Of Parallel Control For Mobile Robot

Parallel control as one of the hottest topics in the field of control engineering meetsthe needs of complex engineering studies and provides a new approach for solvingcomplex system. Parallel control, which expands practical problems to the virtual space isa new method to solve the problem via the actual interaction to complete the control task.In this paper, by adopting the idea of parallel control, we design and carry out the parallelcontrol of mobile robot system using the prototype of robot and based on the traditionalcontrol theory.Firstly, for the actual system in the parallel control system, a virtual system based onMRDS was established. In the actual system of this parallel control system, the SRV-1robot as agent was controlled by control mode which is not parallel control system, andthe robot and its control system constitute the actual system of the parallel control. Virtualsystem uses MRDS robot software development and makes a data model of the robot andthe experimental environment in the actual system and after a detailed analysis for robotstructure and movement, a3-D environment is set up to meet the demands of mobile robotmotion scene.Secondly, In order to establish the communication between the virtual system and theactual system, the communication for the mobile robot parallel control system wasestablished. The system gets the communication address of actual robot dynamically, andestablishes a connection with the virtual robot via the communication protocol in the formof an object by the thread pool whose task is to create, monitor and destruct the connection.It takes the form of the DLL making MRDS service embedded in the communicationsystem and associating with the virtual communication services.Further, to solve the problem of two system development platform, and the samealgorithm execution problem, parallel execution system of parallel control system isdesigned. Baed on the compiling principle, the regular expressions library is used todefine the language syntax rules, and the same kind of control algorithm is applied to theactual system and virtual system through the online editing form of the algorithm. Thisdesign not only simplifies the compiler implementation process, but also fully consideredin the process of execution of the data storage. It is convenient to be used for many times.Finally, the parallel control system was studied by some experiments. Firstly, acommunication experiment between the actual system and virtual system was designed which verified the system communication mechanism of parallel control system. Then, anexperiment for multi-targets tracking was designed which verified the effectiveness of themodel and various services in the virtual system. Finally, a location experiment wasdesigned based on path planning, implementing localization by the mutualinteraction between the real system and virtual system. These experiments verified theeffectiveness of the designed parallel control system.