Title :
Scene specified control for internet-based mobile robot operation
Author :
Ma, Xudong ; Dai, Xianzhong ; Fang, Fang ; Cheng, Ningting
Author_Institution :
Key Lab. of Meas. & Control of Complex Syst. of Eng., Southeast Univ. Nanjing, Nanjing, China
Abstract :
A networked mobile robot in large networks such as Internet often operates under supervisory control and the discrete commands and decisions from the remote operators normally depend on the feedback scene information. Therefore it must be tolerate of the significant and unpredicted time latency that might mislead the robot for time and scene-dependent operations. A series of strategies are presented in this paper to decrease the latency impact and implement scene specified control of a Internet-based mobile robot. Time stamps are attached to each communication packet of scene video, audio and environment information from the robot to remote operator´s computer for display, which then sends back control decision or command of the right time stamps with the scene when needed. By allocating a memory buffer for current display and recent status even including video frames the robot recalls the environment with the event time stamps as searching index, which helps to estimate the exact robot position or operation. Reverse position and motion are conducted according to estimation from the memorized information. The strategies have been introduced to improve a practical networked mobile robot control platform with experiment validity given in detail.
Keywords :
Internet; SCADA systems; control engineering computing; mobile robots; motion control; position control; Internet; event time stamps; feedback scene information; memory buffer; networked mobile robot; reverse motion; reverse position; scene specified control; scene-dependent operation; searching index; supervisory control; time latency; time-dependent operation; video frames; Auditory displays; Communication system control; Computer displays; Delay; Feedback; IP networks; Internet; Layout; Mobile robots; Supervisory control; Internet-based Robotic System; Network Lantency; Networked Mobile Robot; Synchronization;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246260