Abstract: Teleoperation control system of autonomous mobile robot was established to solve the incomplete autonomy level of the mobile robots in some specific circumstances.The transmission of panoramic images based on perspective decoding and multi-functional remote control platform based on USB joystick were both developed by the way of wireless networks communication.The fuzzy algorithm for the robot to avoid obstacles independently via ultrasonic sensors, the programme of remote operation of the robot by USB joystick as well as panoramic camera perspective solving principles and video compression were elaborately described in this paper. The experimental results show that the construction of the teleoperation control system can realize a good human-machine interaction, make autonomy of the mobile robot much stronger and more intelligent.

Key words: fuzzy control, USB joystick, panoramic camera, network transmission

摘要： 为了解决移动机器人在特定环境下自主性不强的问题，构建了自主移动机器人的遥操作控制系统。通过无线网络传输的通信方式实现了经过透视解算展开后的全景图像的传输和基于USB操纵杆的多功能远程控制平台的开发。详细介绍了机器人利用超声波传感器进行自主模糊避障的算法，利用USB操纵杆对机器人遥操作的程序实现，以及全景摄像头透视解算和视频压缩的方法。实验结果表明，构建的遥操作控制系统可以实现良好的人机交互，使移动机器人的自主性更强，更加智能化。

关键词: 模糊控制, USB操纵杆, 全景摄像头, 网络传输