The Building And Management Of Robot Maps And The Mobile Terminal Controller Based On The Cloud Platform

Map describes the working environment of robot, and plays an important part in positioning and path planning. Traditional SLAM operations rely on the local computing resources totally, which has low accurate, low execution speed, expensive computation cost and other shortcomings. Besides, traditional robot stores the map into local hard disk, which is easy to miss and has a lower utilization. Concerning this issue, the article combined SLAM technology, cloud robotics technology, robot remote control technology and so on, under the cloud platform constructed by our laboratory, the article researched Android programming, ROS programming under Linux, socket communication, streaming media transmission and other technologies, and proposed the building and management of robot maps and the mobile terminal control under cloud platform. This system run the SLAM algorithm on the cloud platform, and managed the storage and sharing of robot map effectively. With the Android phone, the system could offer the control of robot map-building remotely, the real time video monitor, the map management and other functions, meanwhile Android phone could show the robot map and the position of the robot. The main work of the article is divided into two parts as below:Firstly, the building and management of robot maps based on the cloud platform, this part is composed by data management module and SLAM service module. The data management module based on MySQL, and classified the robot maps according to the user that the map belongs. SLAM service module based on the ROS, and was divided into cloud mapping node and robot driving node. The mapping node subscribed the sensor Information published by the driving node and builds map, implemented the SLAM computing in the cloud. Besides, the SLAM service module realized multiple robots SLAM at the same time on the cloud platform depend on the distributed computing feature of the ROS.Secondly, the mobile terminal control based on the cloud platform, this part was composed of cloud service node, robot response node, real-time video transmission module and the mobile phone monitoring software. The service node and response node was based on the ROS, real-time video transmission module was based on the FMS, and the monitoring software was based on the Android. Except motion control, video monitoring and other basic functions, the mobile terminal controller could also control the robot building map remotely, watch the real-time mapping process and show the position of the robot.In general, the system designed by this article reduces the dependence on the local computer memory, computer CPU and other hardware resources while running SLAM. Meanwhile, with the sea saving data ability of the cloud, the system afforded a better interactive experience for the storage and management of the map files, significantly increased the map utilization. What's more, this article united the SLAM technology into the mobile terminal control system, enabled the user to observe the environmental map and the robot position, and provided the reference basis for the user to plan the moving path of the robot, which has significant practical value in the fields of service robot.