Wireless Communications and Control Module of a Web-Enabled Robot for Distributed Sensing Applications

摘要

In this paper we present the design of a low-cost Wireless Communications and Control system for a web-enabled mobile robot for distributed sensing applications. The system consists of several interdependent processing modules to provide the various required functionalities. The device makes use of the already widespread WiFi technology as its wireless communications medium. This allows use of existing wireless networking infrastructure to communicate with the device. The Wireless Communications and Control Module (WCCM) currently consists of the following components: a control module utilizing a SiLabs microcontroller, a wireless module implemented using a Lantronix Matchport B/G, and an I/O Power Supply module. An internet user can remotely log in to a web page stored in the WCCM itself and control the device remotely as well as accessing its sensory inputs. The design has been implemented using low cost and small form factor embedded devices to allow flexibility in its application. The test-bed for this device is a small mobile "Soccer Robot" chassis that provides a convenient way to test the various aspects of the device. The WCCM has been designed with project portability in mind, and consequently will require minimal modification for other applications. The system has proven powerful and easy to use in preliminary tests.