CONTROL OF MOBILE ROBOTS VIA INTERNET

摘要

Abstract. Remote robot control systems are being developed for a wide range of applications, including robot control at dangerous environments, delivery tasks and security monitoring. This paper presents a robot control system with a web interface. The control system is divided in two subsystems: Central Control System (CCS) and the web interface for robot monitoring. Three modules compose the CCS: mapping module, localization module and path planning module. The mapping module models the environment. The localization module estimates the robot positioning in its environment. The path planning module is responsible for controlling the robots actuators, using the data supplied by the other modules, so that the robot can travel between 2 points without hitting objects. The web interface is responsible for sending new tasks for the CCS subsystem, monitoring the robot in an environment map and to show images captured by the robot during the task accomplishment. This remote web interface helps users not familiarized with robotics to operate a robot while keeping the operator away from dangerous environments. Experiments are being conducted at a real environment with a Pioneer I robot.