Diseño e implementación de una interfaz web para control de una plataforma móvil tipo oruga con propósitos de exploración.

Abstract

Teleoperated mobile platforms simplify the ways of developing the different tasks that human beings perform, especially in tasks where their integrity may be affected, where there is little accessibility or where access is very expensive, being used in areas of research, education, entertainment and exploration. Due to its growing development, in the exploration of environments with teleoperated mobile platforms where it is intended to carry out searches, recognition and mapping in areas of difficult access or necessary to explore, which avoid the exposure of the human being in different environments and which allow simple teleoperation. from any device, there are challenges in mobility systems for the recognition of environments, sensory systems, power supplies, communication systems, control and interaction with humans, among others. One of the most important challenges is to categorize the way in which a certain area is inspected, since the conditions of certain terrains are not favorable for robots to explore in the same way or speed and most of them require fixed command stations. , with highly complex controls and full attention from the operator. Some prototypes operate wirelessly with limited distances and are tied to specific hardware which makes them very expensive. For this reason, the design and implementation of a web interface in HTML is carried out to teleoperate a caterpillar-type vehicle from mobile devices or laptops through a wireless network, where unsafe, unstable and difficult-to-access terrain can be explored without the need for supervision. permanent operation by an operator or a fixed command station. It has 3 easy-to-drive modes, one where the vehicle is controlled manually, another where the vehicle moves automatically avoiding obstacles, in these first two it transmits live video and the last one, the vehicle performs a 360° turn capturing what that their environment is in a video that is viewed later. For the mobile platform, the caterpillar-type vehicle is assembled with its respective motors, control card, proximity sensors, camera and batteries. The programming is developed on the Raspberry Pi single board computer (embedded in the platform), which has a web server function, and controls the motors and sensors through programs in PHP and Python. In the results obtained when developing the interface and the platform, the possibility of using this device for exploration in unsafe environments remotely and with different modes of movement can be evidenced. After the tests carried out in different environments in its different modes, it can be concluded that both the interface and the platform comply with the proposed solution to the problems presented and can serve as support for future developments.