Multisensor based autonomous mobile robot through Internet control

摘要

A remote supervisory control system that combines a computer network and an autonomous mobile robot is constructed. The main feature of this system is that users just need a general-purpose computer and a World Wide Web browser, they can command the mobile robot in a remote location through the Internet and Home Page. Hardware configuration of this architecture includes an autonomous mobile robot, server workstation, and other computers, each of them is able to communicate with others via a computer network. Software design includes assignment of the server, communication between the server and robot, and the user interface. The system has extensive capabilities for teleoperation, telerobotics operations, and other multimedia services. Based on this architecture we have implemented multi-level operations for the user on various remote applications. The system allows users to directly control our mobile robot via the Internet and a friendly user interface (via our Home Page), and they can receive real-time images captured by a CCD camera that is mounted on the robot and other data from sensor measurement. At present, one can select a place in our laboratory by clicking a point on the grid map shown in the Home Page WWW. After receiving the high level command, the robot will deliver the sequential live images during the movement to the remote user site.