Gain scheduling middleware for networked mobile robot control

This paper proposes a novel control methodology for remote mobile robot control over a network via middleware. The controller output is adapted via middleware with respect to current network traffic conditions. The middleware can be implemented in a modular structure. Thus, a controller upgrade or modification for other types of network protocols or different control objectives can be achieved easily. A case study on a mobile robot path-tracking with IP network delays is described. The effectiveness of the proposed approach is verified by experimental results.