Design And Research Of Handhold Monitoring And Control System For Man Portable Mobile Robot

Man Portable Mobile Robot System is one of research focuses in the field of miniunmanned ground reconnaissance and fight platform. Monitoring and Control System is animportant constituent of Man Portable Mobile Robot System, it not onlysupplies operators withthe up-to-datestatedataaboutplatformto achievethefunctionofremotemonitoringandcontrol,but also provides the real-time videoimage about battlefield for operators to realize the functionof battlefield reconnaissance. The main content of this thesis is designing and researching theHandhold Monitoring and Control System for the Man Portable Mobile Robot Platformdevelopedinour laboratory.Firstly,thefunctionandstructureofHandholdMonitoringandControlSystemaredesignedas a whole. The function demand of Handhold Monitoring and Control System is analyzed, andthe system is divided into six function modules. The design idea of modularization for opensystem is introduced and applied to the whole design process of Handhold Monitoring andControlSystem.Secondly, embedded hardware structure of Handhold Monitoring and Control System isdesigned, and Handhold Monitoring and Control System is divided into several hardwaremodules. The interface and data-exchanging modebetween hardware modules are analyzed anddesigned, and each hardware module is realized in detail, the hardware platform of HandholdMonitoringandControlSystemisestablished.Finally,the under-layer software of Handhold Monitoring and Control System isdesigned,and the upper-layer software of Handhold Monitoring and Control System is analyzed andstudied in simulation. In the part of under-layersoftware, Windows CE operation system basedon GENE-6310 single board computer is customized, drives of PCM-3974 interface switch cardis developed, serial port communication and video processing programmes based on WindowsCE are designed and developed. In the part of upper-layer software, new global path planningalgorithm, which is based on improved Dijkstra Algorithm and Ant System Algorithm, is givenin the thesis, and the new algorithm is proved to be valid in simulation, the map representationproblemofspatialandSLAMproblemformobilerobotare brieflyanalyzed.