The Research And Implement Of Web Based Mobile Robot Control System

With the development of Internet, control technology of web-based mobile robot which is a cross-disciplinary among Networked control systems, Multimedia communication and Robot control, has a wide ranging of application.This paper mainly studies the implementation of control system of web-based mobile robot. Firstly, a Browser/Server based multi-layered distributed control system is designed for experiment. According to the features of control system of web-based mobile robot, a control scheme combining Direct Control with Supervisory Control is proposed. Then based on the fuzzy control, the local intelligence including collision avoidance and real-time navigation is built on the mobile robot-Robot2, designed and developed by ourselves.On the basis of these solutions, a system made up of a HTTP server, a video server, a robot server and a database is constructed using Java technology and streaming technology. To make full advantage of human-robot cooperation, the web interface of system offers the users different kinds of interactive modes.Finally, as the preparation of the future study on control system of web-based multi-operator-multi-robot, a full physical experimental system of the WLAN-based multi-robot distributed coordination system is built, a number of key techniques have been developed and integrated such as distributed planning, control, sensing, communication, coordination and cooperation strategies, etc.