Adaptive real-time Internet-based teleoperation systems for efficiency improvement using network QoS

摘要

By using the technique of perspective frame control, the stability of real-time Internet based teleoperation systems can be guaranteed. The system efficiency, however, is still highly sensitive to the network quality. In this paper, we investigate on how to improve the real-time system efficiency of teleoperation systems in both control and resource allocation aspects. In the control aspect, we propose to adaptively tune the controller gains for remote robotic systems based on the real-time monitored network QoS parameters so that the system performance can be maintained as efficient as designed under ideal scenario. On the other hand, a task driven dynamic bandwidth allocation scheme based on the real-time monitored network QoS parameters and task dexterity requirements is proposed for supermedia transmission of teleoperation. Experiments have been conducted to demonstrate the effectiveness of the proposed efficiency improving methods for real-time Internet based teleoperation systems.