Internet Control Of A Domestic Robot Using A Wireless Lan Johan Potgieter, Glen Bright, Olaf Diegel, Sylvester Tlale Mechatronics and Robotics Research Group Institute of technology and Engineering, Massey University, Auckland j.potgieter@massey.ac.nz , mechatronics.massey.ac.nz Abstract The control of domestic robots can be carried out in a wireless networked environment. This allows for realistic real time control that can be achieved through the declarative definition of networked components, the standardisation of the domestic home interfaces and the object-orientated approach to model development and data management. Internet communication can produce an efficient and effective control solution for domestic robot processes. This approach allows a remote user to monitor and control domestic robot processes in real time. A modular mechatronic design approach has been applied to the development and control of a domestic robot lawnmower. The research described in this paper addresses the topics of Modular Mechatronics with the primary concern being the development of communication procedures for an Internet controlled domestic robot using a wireless local area network (WLAN). 1 Introduction Network technologies have started to invade the home environment. Simple examples of such network technologies include telephone conversations, television broadcasts, signals from surveillance cameras, commands for controlling appliances and multimedia flow via the Internet and satellite transmissions. It is possible for electric utility companies to remotely control and monitor the flow of electricity into individual homes. Currently home networking falls into two main categories: • Computer interconnection, accessing the Internet, and connecting multiple PCs with peripherals for communication and entertainment. • The control of items such as lights, appliances, climate control systems and surveillance cameras. The best candidates for home-based networks are those with two or more computers, using inexpensive twisted pair network cables or voice-grade telephone wiring. This scheme accounts for about 17 million homes in the United States [Dutta-Roy]. Home networks must be based on standard products operable with any form of media. For mass-market appeal the networks have to be inexpensive, easy to install and the software simple to configure and operate. A modular mechatronic Internet control system makes a significant contribution towards a simplified networked environment. The backbone of the network relies on the TCP/IP protocols for communication and connectivity. The PC and data networks are connected to the Home Server. This server controls the various peripherals in the home. This is achieved using multimedia capable wireless computer networks. The effectiveness of a Wireless Local Area Network (WLAN) system depends on the presence of computer interconnection - accessing the Internet and connecting multiple PCs with peripherals for communication and entertainment. Domestic components are connected to a PC-based controller that connects to a host controller using a WLAN as in Figure 1. This design approach allows for the development of standardised control systems for the WLAN domestic robot. 2 Domestic Internet Control Technologies Today’s Internet technology provide for the development of integrated network environments for the diversified applications of different domestic home environments. To be successful in real-world applications, Internet controlled domestic robots require a high degree of autonomy and local intelligence to deal with the restricted bandwidth and arbitrary transmission delays of the Internet. Proc. 2002 Australasian Conference on Robotics and Automation Auckland, 27-29 November 2002 Copyright © ARAA 2002 212