The teleoperation of a mobile robot in a network without a quality of service guaranteed

The fluctuation of the time delay in a communication network is one of the obstacles for many realtime applications such as teleoperation of mobile robots. To solve this problem, we propose in this paper an architecture that allows to predict in real-time the Round Trip Time (RTT) and an improved speed limit module (ISLM), in order to control the mobile robot speed and reach the desired destination successfully and safely. To overcome the long delays of video feedback from the slave site, we also used the virtual reality (VR) to simulate and monitor the current state of the teleoperated site in real-time and get a better control. We validate our work by implementing the proposed architecture in order to teleoperate our mobile robot, the pioneer 3AT, over various geographically distant locations. The obtained results confirm the robustness and effectiveness of the proposed architecture.