Wireless Control of Autonomous Wheeled Robot through GPRS -- Design and Real Time Validation

This paper presents a novel technique to locate and control a wheeled robotic system for outdoor applications through wireless communication technique. Global position system (GPS) is adopted to locate the robot globally. Both direction and speed control of the vehicle is demonstrated using H-bridge and Pulse Width Modulation (PWM) signals respectively. The main principle of control adopted here is based on communicating PWM control signals through General Packet Radio Service (GPRS) network from the remote place. The PWM control signals are generated based on the prediction of the obstacles that may appear in real time. The said principle is validated in real time by generating the PWM control signal through the onboard timer of OMAP 3530 processor. The configuration of the timer for the generation of controlled PWM signal is done through GPRS from the base station. The real time results proved the proper controlling of the robot direction and its speed when it is in the autonomous mode.