TheDesign ofOn-line Mobile Robot overBluetooth Technology

Awireless communication: Bluetooth technology- technology, embeddedtechnology and multi-sensor basedmobile robot isintroduced. Itcansteer clear ofobstaclestechnology wereapplied totherobot. automatically, downloadrouteprogramson-line andtransmit imagedatareal-time tothecentral computer through Bluetooth II.THEHARDWARESTRUCTUREOFMOBILEROBOT communication. Ithasthefunction ofremotecontrol. The control ofthemotorsadopts doubleclosed-loop andthecontrol h emoberobotsyteihownascFig 1. the commandsareprocessed bytheembedded operating system.hardware canbedivided intothree-layer according tothe Multi-sensor technology isapplied totherobotanda new computer control structure: thefirst layer isthedatacollection location method-"soft andrigid" location based onsensor and anddispose, mainly including theultrasonic sensors, magnetic mechanism isputforward inorder torealize highmotion and navigation sensor, CCDcamera, MSP-430, parallel collection location precision. Experimental results prove thattheportraitcardandimage collection card; thesecondlayer isthepath location precision oftherobot canreach +Imm. tracking andnavigation, whichisperformed bythecentral control computer; thethird layer istheservodrive ofthe IndexTerms- mobilerobot; wireless communication; body, mainly composed ofthecoordinate controller, velocity Bluetooth technology; double closed-loop control sensors andthemotors. Exceptthese, thereisa remote controller fortheconvenient ofoperator whenitisnotatthe