Outdoor Mobile Robot Research Based On Hybrid Control Architecture

Mobile robot is an important branch in the field of robot, which gathers topics such as sensing,actuation, powering, communication, control theory and artificial intelligence. The goal residing in thedesign of a mobile robot is the development of machine which is able to fulfill a task in the real world. Amobile must be able to act in the world by changing its state or by moving itself. It must also be able tosense the state of the world, which requires the interpretation of the sensor information. Finally, it must beable to decide what to do, how to relate the state of the environment to its possible action in order toachieve a predefined goal. To achieve these goals, mobile robot must be consists of advance controlarchitecture, so the intelligent control can be fulfill.This paper do systematic research for Mobile Robot base on Hybird Control Architecture.Hybrid control archeture includes behavior control which is low level and negotiation control which ishigh level. Command can be passed from high level to low level and vice verse. The behavior level andnegotiation level in the hybrid control system can be achieved on the local controller and remote controller.So it contents both remote operation and local operation requests.This paper achieves hybrid control system method through UML, Analyzes the requirement of suchcontrol architecture. The architecture is devided into several independed and cooperative objects, so itprovides the advanced control architecture for mobile robot navigation.In this article, an infrastructure based on J2EE (Java 2 Enterprise Edition) and Web Service ispresented, and communication module is used as an example to mainly discuss the application in Webdevelopment, the use of EJB (Enterprise Java Bean) in application logical designment, the realization ofcommunication between application server and robot controller with web service, the implementation ofnative control system with JNI (Java Native Interface) are also discussed .The system employs J2EE three-tier based structure and web service, which enables the systemto be more flexible, current, scalable and compatible. With J2EE and web service techniques, mobilerobot teleoperation platform not only has advantages of two techniques and improves the scalabilityand reusability but also makes developers to pay more attention to the designment and developmenton functions of the platform.