移动机器人远程控制系统的模式研究和实现

针对目前基于网络的远程机器人控制系统普遍采用公共网关接口 (CGI)作为服务器端技术 ,而CGI具有平台相关性、低效率 ,以及开发难度大的缺点 ,提出了采用Java小服务 (servlet)取代CGI,运用模型 -视图 -控制器(MVC)模式和纯Java技术快速建立网络机器人远程控制系统的方案 ,构建了一个包括超文本传输协议 (HTTP)服务器、视频服务器和机器人服务器的远程移动机器人控制系统 ,实现了远程示教、可编程的机器人运动和复杂环境的目标搜索等远程控制功能 ,为Internet上的远程访问及人机合作提供服务 .本系统分别在局域网、校园网和Inter net范围内进行了测试 ,实验结果证实了本系统软件结构的有效性和正确性 .

Mode Research and Implementation of Mobile Telerobotic System

Aiming at the current use of common gateway interface(CGI) as server-side technology in the web-based telerobotic system while CGI not only has shortages of platform dependency and low efficiency, but also is hard to develop, this paper presents using Java servlet technology instead and applying the model-view-controller(MVC) design pattern to construct a web-based telerobotic system made up of a hypertext transfer protocol(HTTP) server, an image server and a robot server, which provides Internet users with interactive access to an autonomous mobile robot including tele-teaching, programmable robotic motion, target search in a complex environment and so on. The validity and correctness of the software structure of this system have been proven by tests on local area network(LAN), campus network and Internet.