Abstract
The mobile service robot controller is a complex domain, not easily amenable to meet the need of being cheaper and easy-to-use trend. It involves such the disparate aspects as motion control, internet communication, multimedia interactivity and remote monitoring. It is a challenge to integrate so different kinds of capabilities together. This paper describes our attempts to combine those capabilities together, and reduce the cost and real-time response delay. Based on the management-oriented framework, we present a hybrid controller system which consists of the multi-core heterogeneous controller, an android device and a PC monitoring server. The android device communicates with the heterogeneous controller through the USB OTG mode. The Android device acts as the host part in charge of network communication, multimedia interactivity, video stream transfer, remote monitoring, and internal sensor acquisition. The heterogeneous controller is a slave end in charge of the motion control and motion sensor data acquisition. The PC server implements the display and storage of real-time video and other motion status data. At last, we provide the preliminary experimental results and believe this system is a novel approach to opening possibilities of making the service robot controller more powerful.
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