A Mobile Robot Teleoperation System with a Wireless Communication Infrastructure using a Leaky Coaxial Cable based on TCP/IP

摘要

In this study, we propose and develop a wireless teleoperation system for mobile robots using a leaky coaxial cable (LCX) with a wireless communication infrastructure. In closed spaces resulting from disasters, some problems have been reported, such as cable entanglement, disconnection of wired communications, and problems with teleoperations (e.g., unstable communication quality for wireless communications). In this paper, we propose a communication infrastructure system for teleoperation of a mobile robot using LCXs as a communication infrastructure that considers the above issues. In addition, the communication quality was measured for the operability of the mobile robot by constructing an IEEE 802.11b/g/n network using an LCX, and the effectiveness of the proposed system in an actual environment was confirmed. In the evaluation of the communication quality, bandwidth compression throughput values and packet jitter were measured as evaluation items at the packet level to objectively consider the teleoperation controllability.