Network-based Robot Control Based On Motion Description Language

There are two kinds of typical control strategy for the network-based robot control at present:the direct control strategy and the collaborative control strategy. Both of them have the obvious deficiencies. The direct control strategy has a large demand of the network bandwidth, causing the waste of network resources; cooperative control strategy relays on the autonomy of the robot system strongly, and reduces the flexibility of the system. In addition, collaborative control strategies can’t demonstrate the optimality and rationality of control strategy.For the above problems, a method based on motion description languages for robot control is introduced. MDL has the ability to describe the dynamic interaction between robot system and environment. Not only interactions between discrete and continuous dynamics that exist simultaneously in a robotic system can be described, but the complexity of steering a robot can also be measured quantitatively. It also can increase the robot’s control problem to the symbol level. It can realize the reasonable desivion of the computation, communication and other resources of the system. Its basic idea is to specify the different control modes for the robot system in different period. By studying the characteristics of network delay, this test establishes the MDL model to adapt to the Internet environment based on analysis of the characteristics of Internet data transmission. The posture stabilizalion problem of nonholonomic wheeled mobile robots is realized by using this method, and the simulation results verify the practicability of this method. By comparing with the conventional direct control method in the network environment with time delay, the results indicate that MDL can keep the system stable. Researches on network-based robot control system based on MDL not only promote the development of the theory of MDL, also provide a novel method for the study of network-based robot control system.