for Wireless Mobile Robots

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), 2012

In this paper, we introduce a software and hardware structure for on-line mobile robotic systems. The hardware mainly consists of a Multi-Sensor Smart Robot connected to the Internet through 3G mobile network. The system employs a client-server software architecture in which the exchanged data between the client and the server is transmitted through different transport protocols. Autonomous mechanisms such as obstacle avoidance and safe-point achievement are implemented to ensure the robot safety. This architecture is put into operation on the real Internet and the preliminary result is promising. By adopting this structure, it will be very easy to construct an experimental platform for the research on diverse teleoperation topics such as remote control algorithms, interface designs, network protocols and applications etc.

In some embedded applications, the global control objective can be split in different control objectives from simpler to more complex ones. In this sense, simple controllers can achieve the basic control problems and controllers with more computational resources can be in charge of more complicated decisions. In these situations, a control architecture for coordinating all the components is needed.

The SUAAVE project is funded by EPSRC under the WINES wireless networking initiative to consider issues of multiple aerial vehicles communicating and collaborating in performing tasks, and involves teams from University College London, University of Ulster, and the Uni-versity of Oxford. The focus of SUAAVE lies in the creation and control of swarms of UAVs that are individually autonomous (i.e not under the direct realtime control of a human) but that collaboratively self-organise: to sense the environment in the most efficient way possible; to respond to node failures; and to report their findings to a base station on the ground. As the focus is on developing algorithms, rather than rugged hardware, we are using small off-the-shelf electric quad-rotor vehicles with payloads of a few hundred grams. Although the technology is not tied to a particular scenario, we are basing our research on a search-and-rescue scenario, whereby a swarm of vehicles are searching for a lost or injured ...

Application and Theory of Computer Technology

Unmanned Aerial Vehicles (UAVs) usage are becoming part of many dally tasks. They are substituting bigger and more expensive crafts, but these substitutions do not mean a reduction of complexity and cost of operate these UAVs. In many applications is more expensive use UAVs than the original equipment. It´s because of cost of better trained operators, expensive remote control environment to control de the vehicles and sophisticated UAVs. This work proposes a robotic flying crane that uses a light than air vehicle and performs its tasks as much independent of remote operators as possible, and minimizing connection to a mission control facility. This independence of operation is a result of embedding the path mission control into the UAV. The embedded path control makes the UAV less dependable of connections with its control center and consequently less dependable of human interaction. The kinematics and dynamics of a light than air vehicle (blimp) able to perform the task of logging ...

Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, 2003

Secure remote access with inter-operatability for operating a robot can be successfully achieved using the web services provided in the .NET framework. The complete design of the machine discussed in this paper is made on the .NET framework. The server which operates the robot is configured to IIS. The algorithm for obstacle detection is coded on a different server using the .NET framework. By using web services, the robot can be accessed by other servers. These web services are consumed by the server on which the robot executes. A proxy is created on this server. The whole control is given in the form of a series of web pages which can be accessed by any web browser. However in order to input parameters and control the robot, authentication is required. The user provides authentication credentials which are matched with the existing information on the data base. After authentication, the user proceeds further to control the robot. The security and reliability of remote access is provided by the components that come with the web services namely, SOAP, WSDL and Proxy.

This project outlines the strategy adopted for establishing two kinds of communications; one for wireless communication between a mobile Robot and a remote Base Station, another for serial communication between a remote Base Station and a GUI Application, PC. TekBot is a low cost mobile Robot built by Oregon State University which in its current version requires wired communication. Our aim is to be able to command and control the Robot wirelessly by the GUI Application. This will be a useful addition for NASA's curriculum development for master's degree programs.

International Journal of Computer and Communication Engineering, 2013

This paper explores the practical implementation of a control architecture for autonomous mobile robots by avoiding the concentration of computing operations on the robot, and instead performing them at an operator station over a wireless link. By using this innovative approach, the cost of implementation may also be reduced.

This paper presents a distributed platform composed of a team of mobile robots so that they can be controlled by the students through Internet. With this platform, a remote environment is created so that the students can carry out different experiments over several available equipments in the lab, with a flexible schedule. This way, the student can design and test different control algorithms and experience over the mobile robots in the laboratory. Currently, there are 3 kinds of robots available; each one is accessible by the students for monitoring and supervision tasks and also for control tasks using a common interface of communication, in a transparent way from the point of view of the user.

2015

In this study, a mobile robot serving in dangerous and narrow areas for human is designed. The mobile robot consists of a mobile platform and 4-dof robot arm with a gripper. This robotic system can be controlled via either a computer based interface program or a microprocessor controlled module independently operated. The communication between the user and mobile robot is provided by transmitting wirelessly the data from a RF transmitter module to a RF receiver on the mobile platform. The user transfers the data to the USB port of the computer using the designed interface program. The control operation is performed by processing this data with a designed microcontroller board. Furthermore, the objects in the environments and direction of the mobile robot can be seen with cameras and laser LED on the robot at day and night.

IEEE Network, 2000

he significant developments in the fields of communication technology, wireless technology, embedded devices, and many more, have enabled the development of autonomous air, ground, or underwater vehicles or robots with communication functions. The main motivation for connecting the robots is to achieve the group objective in a distributed and parallel manner. A decentralized approach is in many practical applications more efficient and economical than having a centralized device to control the whole system, which furthermore makes the scalability more difficult. The decentralization only requires that each agent has knowledge of its state and its neighbors', and so the communication between them is an important issue. In this context, a wireless network seems to be a perfect candidate to exchange information between the mobile robots [1].