The Design Of Mobile Robot Based On Wireless Network Control

With the society’s substantial progress of science and technology, as a member of the robot system,mobile robot plays a very important role.With the rise of the wireless network communication technology,the mobile robot’s remote control has broaden the application field of the robot. The remote control mode enlarge the scope of the mobile robot control system, making the mobile robot in the true sense become very popular,so that can be widely used in real life, and can serve human better.By analyzing the research and the trend of mobile robot at home and abroad, this thesis sets up a small indoor wheeled mobile robot prototype. The prototype employs a four wheeled structure, with driving wheels on both left and right sides, with universal wheels at the front and the back, with differential control algorithm for mobile robot motion control.The whole control system adopts hierarchical structure,an up and down remote control system.The upper computer is used as the long distance control system,the lower computer is used as motion control system,which uses the TMS320LF2406 A DSP chip as the control core to develop the drive controller,realizing the differential control.In the control system,the CAN bus communication way is applied.By changing the PWM duty cycle,the motor speed is adjusted. With the Visual C++ 6.0 in the MFC development tool based on Windows Sockets programming,the mobile robot’s remote control interface is successfully developed.Between the upper and lower machine uses the wireless network communication, realizing the human-computer interaction,completing he remote control of mobile robot based on wireless networks.This thesis completed the production and debugging of a wheeled mobile robot prototype,which has good reliability and stability,and splendidly meet the requirement of control system.Mobile robot Control system is finished with a wireless camera,in which image information was collected to make path planning design,guiding mobile robot to move.The sound source localization system of mobile robot was designed with the Kinect and regular tetrahedron array microphones,making mobile robot well perceive auditory information, judging the orientation of the collected information, so that the mobile robot can turn left or right to find the sound source.