Development of autonomously mobile robot with control system connected by TCP/IP network

Author

Ohchi, Masashi ; Furukawa, Tatsuya ; Takayama, Masayuki ; Yanagi, Shinji

Author_Institution

Dept. of Electron., Saga Univ., Japan

Volume

1

fYear

2001

fDate

2001

Firstpage

311

Abstract

The purpose of this paper is to detail the development of a mobile robot and control support system. The robot has five infrared (IR) ray sensors and three ultrasonic sensors to enable it to follow a guide person with an IR ray transmitter. The robot follows the IR rays emitted by the transmitter and moves towards its destination. The control system has been developed by using network technology (client/server model) based on the TCP/IP protocol; the CPU of the robot system has a low-enough speed for this. The advanced control strategy for the mobile robot is carried out with a high-speed host server computer connected through the TCP/IP network. In this paper, the autonomous mobile robot system and the control support system aided by the TCP/IP network are described

Keywords

client-server systems; infrared detectors; mobile robots; optical tracking; optical transmitters; telerobotics; transport protocols; ultrasonic transducers; IR sensors; IR transmitter; TCP/IP network; US sensors; autonomous mobile robot; client/server network technology; control support system; guide-person following; high-speed host server computer; low-speed CPU; Control system synthesis; Control systems; IP networks; Infrared sensors; Mobile robots; Network servers; Robot control; Robot sensing systems; TCPIP; Transmitters;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE

Conference_Location

Denver, CO

Print_ISBN

0-7803-7108-9

Type

conf

DOI

10.1109/IECON.2001.976500

Filename

976500