Remote Experiments With Mobile-Robot Hardware via Internet at Limited Link Capacity

摘要

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> Mobile robots provide a motivating basis for hardware experiments in kinematics, dynamics, and control topics. A suitable infrastructure is to be established in order to offer a worldwide user community of students' access to the mobile robots via Internet. Functionalities in the area safety, user-management, hardware interfaces, and constraints related to the available link quality must be taken into account. In this paper, in particular, aspects related to efficient teleoperation of mobile robots despite communication-link constraints are analyzed. Details of the technical implementation of the system architecture are described as well as characteristic performance measurements. </para>