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

Abstract

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.

Optimized design and analysis of cable-based parallel manipulators for enhanced subsea operations

“…In subaquatic operations with environments unpredictable, the capabilities of CPMs become significant. These manipulators, optimized for marine settings, excel tasks such as marine archaeology, offshore maintenance, salvage operations, and seabed mapping (Zhang et al, 2020a;Poitrimol and Igarashi, 2020;Ou et al, 2022;Sawai et al, 2019;Horoub et al, 2023;Mazzeo et al, 2022).…”

Development of a robust Wi-Fi/4G-based ROS communication platform for an assembly and repair mobile robot with reliable behavior under unstable network or connection failure

“…Different communication methods can be used by mobile robots, including wired and wireless communications. Although wired communications can provide higher communication quality, wired communications for a teleoperated mobile robot are not desired due to the various physical limitations caused by cables [6][7][8]. Generally, wireless communications, such as Bluetooth, Wi-Fi and cellular network technology are applied to mobile robots due to the valuable benefits they offer [6,7,9,10].…”

“…Each communication method has unique advantages; however, the best communication method for each mobile robot is determined based on the application of the robot and its specific requirements. Radio waves are useful for long-distance communication but are not suitable if there are obstacles in the movement area of the mobile robot due to the possible obstruction of the waves [8,11]. Wi-Fi technology is widely used as a communication method for mobile robots.…”