Mobile robots equipped with sensors could be used to replace human presence in hazardous environments. Teleoperations are desirable when the robots are not able to deal with certain tasks autonomously. With the mature and universal Internet technology, Internet based teleoperation of robotic system has created new opportunities in resources sharing, long-distance learning, and remote experimentation.; In this thesis, a network-enabled teleoperation system was developed for indoor environments, using a wireless mobile robot in our lab. It has various sensors for sensing the local environment, onboard micro-controllers for low-level computation, and wireless communication to a server for high-level control. The operator can obtain dynamic sensory feedback information presented in a user friendly interface and teleoperate the mobile robot through the server or a control panel on a remote client. The hardware and software design is elaborated in this thesis. The critical issue of time delay in the Internet based teleoperation system is discussed in details, which can facilitate future researches. The developed teleoperation system is successfully applied to wall following problem. A combination of three ultrasonic sensors is designed to implement wall following behaviours through an event based fuzzy controller. Extensive experimental results demonstrate the effectiveness of the developed teleoperation system. This thesis presents a good application of Internet based remote sensing and control. New applicable modules can be easily added into this teleoperation system to improve the competence.
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