A Distributed Control Group of Mobile Robots in a Limited Area with a Vision System

Digital remote manual control systems are no less complicated than automatic control. Engineers have to overcome number of unique problems. Mechanical parts have to respond to digital signals transferred through wireless connection. Digital control algorithms have to correctly translate the movement of controls at remote station to signals in a way that a operator has a proper feeling of control. The Master Control System presented connects the features of a Drive-By-Wire control system with wireless connection. Main focus is put on the Master controller and its algorithms of input - output translation, that give finer control for an operator. In addition, computer controlled intervention algorithms are proposed that can increase safety of the subject vehicle. All that is done on basis of a small two-wheeled robot and a closed environment of small playground with radio interface allowing wireless connection with the robot, and a vision interface equipped with a camera serving as a visual feedback. Is it a great environment for theoretical considerations, testing and implementation. Modular design of the environment additionally allows the control of whole Mobile Robot Group, not only one robot subject. Moreover sented results can be applied more widely in controllers for cars or other wheeled or tracked vehicles.