Research On Remote Audio And Video Transmission Technology Of Mobile Robot

With the continuous development of autonomous navigation technology,the application of service robot has gradually increased,but the shortage of intelligence limits the development of service robot.The control system base on the audio and video transmission allows users to remotely through the network control the robot movement,through real-time audio and video signals to observe.Combined with the robot's autonomous navigation algorithm,the application can be realized in many fields,such as: telepresence,remote medical care and so on.This paper studies a remote control system based on audio and video transmission.The client is based on the Android system,and the robot is based on the ROS system implementation.Based on the requirements of audio and video transmission system and remote control system,the overall scheme design is carried out from the point of view of system and terminal,and the technical route and the function point to be realized are planned.Specifically include the following:First of all,in the Linux system,the design of audio and video synchronization technology based on the system clock to achieve the local audio and video recording.And then between the robot and the Android client,the realization of RTP / RTSP protocol to build a streaming media transmission system,design a interface for FIFO to read streaming media data,comlete audio and video real-time transmission.Secondly,based on the design scheme of hierarchical control system,the mobile robot's bottom control system,the robot navigation decision system and the robot navigation execution system is realized.The final completion of the platform build the foundation to achieve the control system.Thirdly,the cross-platform communication method between the robot ROS system and the Android system of the mobile terminal is studied,and the control scheme based on the socket server and the web server is proposed.The communication of Socket server and navigation execution system,the web server and navigation decision system is completed.Finally,based on the functional analysis of the client,and the live555 and lib VLC dynamic link libraries are transplanted for the defects of the local API,and the streaming media is received and played.And experimentally verified.