An on-line test setup of CNN based real-time mobile robot navigation application

Abstract

In this demo, we introduced a mobile robot navigation test setup that is accessible via internet. This test setup has a Lego Mindstorms NXT differential drive mobile robot which is controlled by a computer with Bluetooth connection. The control computer, which is called Host Computer in Fig. 1, runs MATLAB to operate the system. The navigation of mobile robot is based on an algorithm which uses a Relaxation Oscillator Cellular Neural/Nonlinear Network to execute wave computing. This network is also simulated by the Host Computer. The significant property of this demo is that any Client Computer can establish a remote desktop connection with the Host Computer and use the test setup remotely. By this means, any comparative tests on this setup can be handled remotely by independent researchers.