Network Controller for Teleoperated Mobile Robotic Agents
In the communication channels of bilateral teleoperation systems it is critical to keep the delay and delay variation under prescribed limits. Otherwise, the stability and transparency of the teleoperation are compromised. In this paper a network controller is proposed for video supported teleoperation systems implemented over WLANs (Wireless Local Area Networks). The algorithm controls the transfer rates in the video channels which serve for online monitoring of the teleoperation task. The video transfer rate controller was developed using multi-objective optimization and it assures the best achievable video transmission quality for a prescribed delay or jitter in the communication channels of the teleoperator. The performed real-time experimental measurements show that, with the proposed rate control algorithm, the delay and its fluctuation can be substantially reduced in the teleoperation systems implemented over WLAN.
KeywordsTeleoperators Communication traffic control Wireless LAN
This work was supported by a grant of the Romanian National Authority for Scientific Research, CNCS UEFISCDI, project number PN-II-RU-TE-2011-3-0005. The research was partially supported by the Future Internet Research, Services and Technology TAMOP-4.2.2.C-11/1/KONV-2012-001 research grant.
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