Research On Path Tracking And Remote Control Of Home Service Robot

With the progress of society,the development and application of home service robots have been paid more and more attention.For the different modules of home service robots,people have designed a variety of application technologies to improve their ease of use.In this paper,the research on the detection and correction of wheel slip,the high performance concurrent server model and the safe transmission of data are carried out for the path tracking and remote control system of home service robot.Aiming at the problem of tracking and controlling the path of home service robot,a double wheel detection structure is proposed.Firstly,the different operating states of the home service robot are modeled and analyzed,the wheel slip identification algorithm and the direction error calculation method are designed.And then use the forward correction algorithm or reverse correction algorithm to correct the wheel slip caused by the operation direction error.Using the error correction threshold to improve the stability of the two-wheel detection structure.The simulation results show that the design of the two-wheel detection structure model can accumulate the wheel slip error caused by the long term operation of the home service robot and real-time correction to realize the high precision path tracking control.There is little displacement error in the inverse correction algorithm,and the correction accuracy is better than the forward correction algorithm,but the error correction logic of the forward correction algorithm is simple.A high performance concurrent server model based on the combination of asynchronous I/O and thread pool is proposed for high performance concurrent server design of home service robot remote control system.We can manage the creation and destruction of worker threads in the thread pool by managing threads.Using the callback function of asynchronous I/O to add the handler and function parameters of the network connection socket read and write events to the task queue of the thread pool,and use the thread created by the thread pool to process the network connection socket read and write tasks.Test results show that by reducing the thread creation and destruction and ready network connection socket traversal of the system resources consumed to improve the efficiency of the server,reducing the user connection response time.A security system for secure transmission of user data is designed for the security of network data transmission in this paper.The BER coding rules of ASN.1 are used to encode the key negotiation structure to realize cross platform key negotiation.The security of the key distribution of symmetric encryption algorithm is improved by key negotiation,and the user data is encrypted by the negotiated key,which can guarantee the security of user data transmission.The test results show that the server security transmission system designed in this paper can successfully negotiate the key,and then encrypt and decrypt the data transmitted by the user,and finally realize the safe transmission of the user data.