基于WLAN的移动机器人嵌入式远程运动监控系统设计

发布时间：2018-10-24 13:21

【摘要】：随着机器人技术的发展，机器人远程控制技术不仅仅应用在军事等领域，它在日常生活中的应用也日益广泛，特别是在危险环境作业领域具有不可替代的作用,如核辐射环境监测，排爆，太空搜索等。近年来互联网技术飞速发展，其方便，廉价等特点使得网络技术与机器人技术结合成为一个新的研究热点，而嵌入式技术的发展成为两者结合的纽带。论文从嵌入式平台的特点和移动机器人远程控制的功能要求出发，提出了基于嵌入式微处理器和Linux操作系统的移动机器人远程控制的方案。在该方案中，摄像头将采集的图像数据传到微处理器上，经压缩处理后通过无线网络传送到上位机，上位机通过人机交互界面显示图像信息，操作人员根据视频画面判断机器人当前所处的环境并对机器人下达控制指令。研究了移动机器人底层设备在Linux系统中的驱动和移动机器人与远程PC间的网络通讯，通过无线局域网对机器人进行远程控制。搭建了模拟实验平台，对机器人与上位机之间的数据传输和机器人移动控制进行了实验，实验结果表明系统实现了要求的通信与控制功能。由于网络时延的存在对于移动机器人远程控制有着不利影响，文中首先采用BP神经网络预测出时延值，然后利用Smith补偿器弥补网络时延造成的控制误差。仿真实验验证了所采用的控制方法的有效性。本文内容安排如下：首先阐述了本课题的研究背景和意义，对国内外的移动机器人监控技术的发展进行了概述。其次介绍了机器人遥控通信原理和控制技术，讨论了移动机器人硬件设计。然后，分析了交叉编译环境下的程序编写和移植，介绍了驱动与控制程序的设计，以及上位机监控界面设计。第四章介绍了系统实验过程，给出了实验效果。第五章讨论了基于BP神经网络的网络时延预测方法，在Simulink中搭建了采用Smith补偿的时延控制系统模型，，进行了仿真实验。
[Abstract]:With the development of robot technology, robot remote control technology is not only used in military field, but also widely used in daily life, especially in the field of dangerous environment operation. Such as nuclear radiation environment monitoring, explosion, space search and so on. In recent years, the rapid development of Internet technology makes the combination of network technology and robot technology become a new research hotspot, and the development of embedded technology becomes the link between the two. Based on the characteristics of embedded platform and the functional requirements of mobile robot remote control, this paper proposes a scheme of mobile robot remote control based on embedded microprocessor and Linux operating system. In this scheme, the camera transmits the collected image data to the microprocessor, which is compressed and transmitted to the host computer via wireless network. The upper computer displays the image information through the man-machine interface. Operators judge the current environment of the robot according to the video picture and issue control instructions to the robot. In this paper, the driving of mobile robot's underlying equipment in Linux system and the network communication between mobile robot and remote PC are studied, and the remote control of the robot is carried out through wireless LAN. The simulation experiment platform is built, the data transmission between the robot and the upper computer and the robot movement control are experimented. The experimental results show that the system achieves the required communication and control functions. Because the existence of network delay has a negative effect on the remote control of mobile robot, this paper first uses BP neural network to predict the delay value, and then uses the Smith compensator to compensate the control error caused by the network delay. The simulation results show that the proposed control method is effective. The content of this paper is as follows: firstly, the research background and significance of this topic are described, and the development of mobile robot monitoring technology at home and abroad is summarized. Secondly, the principle and control technology of robot remote communication are introduced, and the hardware design of mobile robot is discussed. Then, the programming and transplanting in cross compiling environment are analyzed, the design of driver and control program and the design of monitor interface of upper computer are introduced. The fourth chapter introduces the experimental process of the system and gives the experimental results. In chapter 5, the network delay prediction method based on BP neural network is discussed. The model of time-delay control system with Smith compensation is set up in Simulink, and the simulation experiment is carried out.
【学位授予单位】：南华大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP242;TP368.1

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