We implemented a distributed mobile robot control system using COTS systems. A new mobile robot, NAVRTCL is implemented using various COTS systems. PWC is used as its body to reduce development time and cost, PC is used as main controller considering easy hardware development and wireless LAN is used to control and monitor mobile robots without any consoles through ethernet. Implemented mobile robot has features such as only DC power system without any inverter, ethernet based control system, human payload, easy hardware interface and etc.
To control and monitor mobile robots, distributed control system`s hardware and software architecture are designed and implemented. We base this architecture on ethernet, wireless LAN and socket communication. It allows users to connect to robots using their network computers, and to monitor and control the robots via various input devices.
Sensor system is designed and implemented on the purpose to apply wall-following control of mobile robot. The wall-following problem is characterized by moving the robot along a wall in a desired direction while maintaining a constant distance to that wall. Sensor system is consisted of sonars and encoders. From sonar distance measurements the distance and the orientation of the robot with respect to the wall can be calculated and improve measurements using cross-talk. Encoder is used to calculate robot`s position.
To control mobile robot under windows 98, device driver is implemented to access hardware. The results of experiments are described to show position and velocity control of implemented distributed mobile robot control system, and validity of sensor system for wall-following.
