Study On Control Strategy Of Mobile Robot Under Wireless Network Environment

Researching mobile robot will improve the level of industry and agriculture, and make theservice quality of service better. It will reduce the time of rescuing and explosive removal too.Compared with the traditional point-to-point control method of mobile robot, mobile robotcontroling under the wireless network environment is more important, because of its less wiring,easier maintenance and extension.It is suitable for remote control and resource sharing. This way ofcontorling cause the attention of people. The information in wireless network can only be transmitrely on wireless channel. What is necessary that the delay introduced into the system. The existenceof the network time delay not only affects the real-time transmission of information but also affectsthe performance of the wireless network control system, it can cause instability of the system whenit is serious. The old mobile robot control algorithm is based on the assumption of the transmissionof control information without delay. So it is difficult to directly apply to control of mobile robotunder the wireless network environment. The research of this paper is significant. The main work ofthispaperis as following.1. Firstly, we searched the structure and characteristics of wireless network control system.Andwe explored the influence of the driving mode of the node of wireless network control system andchoose a driving mode. The process and its impact were analyzed of time delay of wireless networkenvironment on system.And we used of simulation to analysis theinfluence oftime delay of a givensystem.2. we built a general dynamics model for the present commonly used robots,for example tworounds of mobile robots, crawler robots, four-wheel drive differential steering robots. we designeda discrete backstepping control algorithm for this model of the wireless network environment. Then,we make use of MATLAB/Simulink simulation to test the control algorithm, the simulation resultsshowthat thisdesignofdiscrete inversecontrolalgorithmhasgood controlfunction.3. We use TrueTime network simulation platform build a control system of mobile robotunder the wireless network environment, and simulate the Mobile robot control system wirelessnetwork with time delay, and compared results with control system without time delay. The effect of time delay in the wireless mobile robot control system are analyzed. And we use the modelpredictive control design control sequence predictive compensator and applied it to the mobile robotcontrol system under the wireless network environment. In this way, we weakened the influence oftime delay of wireless mobile robot control system. Simulation results show that the design of thecontrolalgorithmhasgood controleffect.4. Then, in order to further understand the mobile robot control system, and the workings of awireless network control system.In this paper, we selected the hardware type and designedcircuit,so we finished the desigin of mobile robot system. Me make it adapted to the wirelessnetwork control system. we can control it in the controller in this paper,then it can be applied to theunderlying control of mobile robots,It can be applied to the underlying control of mobile robots.So,we complete wireless physical design of the control system of mobile robot under the networkenvironment.