A1-1 - Sedma Nacionalna Konferencija so Me|unarodno U~estvo...

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COMPUTER SUPPORTED REMOTE CONTROLLED ROBOTIC VEHICLE Erol UYAR 1 , Levent ÇET İ N 1 , Aytaç GÖREN 1 1 Dokuz Eylül University - Faculty of Engineering Department of Mechanical Engineering, 35 100 - Bornova, İ ZM İ R/TÜRK İ YE, Phone Int. +90 232 38831 38, Fax Int. +90 232 388 78 68, E-mail: erol.uyar@deu.edu.tr Abstract: This paper represents the implement- tation and application of the remote path control of a mobile vehicle, which is developed to use for various purposes. The mobile vehicle which can be guided by a DGPS-System carries a camera on it and is furthermore equipped with an embedded "Slave PC"-104 micro controller. This micro controller is supported with an I/O Port. Besides a transmitter is mounted to the vehicle which sends continuos analog picture data to a stationary receiver. The motion and position of the vehicle can be controlled by Wireless Modem (WM) from a stationary" Master PC “, which also receives picture data from the camera through a receiver. The orientation and motion of mobile vehicle are executed through DC Motors. A two direction serial data communication between the master and mobile PC, is provided via Radio-Modems through RS-232.Transmitted continuos analog picture data from camera can be used to give information about the surrounding area, as well as for the objects to be hold. The built up system in all is considered as a prototype to use in hazardous conditions or areas, such as nuclear plants, mined fields, slandered zones, where human safety is of great importance. Keywords : DGPS, Control, RF, Camera, Robot, Vehicle, and Tracking. 1. INTRODUCTION The direct uses of human beings in some hazardous conditions or areas are restricted because of safety and to avoid all kinds of danger. To operate in these circumstances the application of remote controlled systems are inevitable. (Dimirovski, G et all 2000) These systems can be considered as operating manipulators and data transmission, as well as control systems. Using computers with appropriate “soft” as well as “hardware”, a two directional remote data, besides picture transfer and complex control actions can be realised. In the following a built-up robot vehicle and data transition system is introduced. The vehicle, which carries a manipulator with a mounted surface camera on it, is also implemented with a PC104 computer kit and I/O port. A digital RF-modem provides for two directional serial data transfer and a transmitter sends analog pictures from vehicle to the stationary PC or a TV screen. The motion and orientation of the vehicle and camera are provided via DC motors, which are remote controlled through the stationary PC over radio-modems using serial communication (RS- 232) A PWM controlled power- box is used to drive the DC motors of the system via parallel I/O Ports.
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A1-1 - Sedma Nacionalna Konferencija so Me|unarodno U~estvo...

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