REMOTE ADMINISTRATION OF AN AUTONOMOUS GUIDED VEHICLE THROUGH WEB BASED WIRELESS INTERFACES
Motion control is one of the most critical factors in the design of autonomous vehicles such as mobile robots. Bearcat III is an autonomous vehicle designed by the student at the Center for Robotics Research at the University of Cincinnati. The data transfer between the motion controller and the computer on Bearcat III is via serial port interface. This method is inflexible, sluggish and dated. A new motion control solution that uses a Galil DMC-2130 motion controller with a Galil ICM 1900 as the interconnect board is proposed. The new motion control system uses a DC brush less servo motor with encoders for feedback control. The choice of amplifier depends up on the choice of the motor type. This forms a closed loop feedback control system. The communication between motion controller (DMC-2130) and the central computer is achieved using Ethernet technology. This facilitates the use of Internet communication protocols and wireless communication standards to control the robot remotely. The new motion control system thus helps to control the robot via Internet and without physically present near the robot. The systems will be tested on the new robot, Bearcat cub, built by the students of the Center for Robotics Research. The significance of this work is in the increased understanding of motion control system for robot control and the synergetic combination of autonomous control of a robot and Internet and wireless communication standards in the field of defense and medicine.
School:University of Cincinnati
School Location:USA - Ohio
Source Type:Master's Thesis
Keywords:robotics mobile robots tcp ip wireless networking
Date of Publication:01/01/2003