A UDP-based protocol for mobile robot control over wireless Internet

Cho, Dong Kwon; Chun, Sang Hun; Ahn, Jeong Gyun; Kwon, Yong Sik; Eom, Jong Hoon; Kim, Young Il

doi:10.4108/icst.robocomm2009.6076

Cited by 7 publications

(3 citation statements)

References 7 publications

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“…The server is configured to communicate with the client through an ad hoc wireless network, which has been designed with User Datagram Protocol (UDP) [40]. The client then computes the optimal trajectory and serially transmits datapackets containing optimal control commands to the server for execution.…”

Section: Figure 2 (A) An Overview Of the Control Architecture Explain...mentioning

confidence: 99%

Intent-Aware Optimal Collision Avoidance and Trajectory Planning for a Pursuit Vehicle

2022

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Summary This paper presents an integrated optimal control framework for velocity and steering control of an autonomous pursuit vehicle, where the control objectives satisfy the requirements of collision avoidance and moving target tracking. A distinctive feature of the proposed velocity and steering control is the application of logarithmic penalty functions to both. The control barrier imposed by logarithmic function provides a unique tool in computing a balanced trajectory with optimal tracking error, control effort and safety margin. Trajectories compliant with the safety regulations for autonomous driving have been planned based on estimated intention of the target and the obstacles. Effects of the controller weights have been extensively simulated to assess the performance of the proposed strategy in a variety of dynamic situations. The controller has been validated on a real-life robot by using a shrinking horizon control policy for iterative optimisation.

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Section: Figure 2 (A) An Overview Of the Control Architecture Explain...mentioning

confidence: 99%

Intent-Aware Optimal Collision Avoidance and Trajectory Planning for a Pursuit Vehicle

2022

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“…It contradicts the lightweight requirements and the limited installation space of the car body. To mitigate the problem, studies have been carried out on noise suppression through the deployment of acoustic metamaterials (AMs) (Dong Kwon et al, 2009; Ma and Sheng, 2016).…”

Section: Introductionmentioning

confidence: 99%

Low-frequency sound insulation of honeycomb membrane-type acoustic metamaterials with different interlayer characteristics

Yan

Zhang

2023

Journal of Vibration and Control

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The membrane-type structure that can achieve excellent sound insulation characteristics under lightweight conditions is widely concerned, but it generally involves a small mass block attached to a thin membrane. Although this kind of design can obtain better acoustic insulation performance, the mass block will cause installation and manufacturing issues in industrial applications. This paper presents a multilayer honeycomb membrane-type acoustic metamaterial with an interlayer structure. Similar to the mass block, the interlayer structure makes less sound energy transmitted by varying the eigenmode characteristics of the membrane. Considering the integrated design of the interlayer structure, the issues of installation and manufacturing are solved and the sound transmission loss is enhanced on the fixed overall dimension and small additional mass. The results indicate that the design of interlayer structures can break the bottleneck of ultrathin and lightweight requirements. Meanwhile, the symmetry of interlayer position can lead to the shift in transmission loss valley to a higher frequency, achieving high sound insulation in a wide frequency range.

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“…There was research which proposes a robot remote control system based on VPN (Virtual Private Network) and TCP / IP protocols [6]. Other researchers used the UDP protocol for transmitting the data control robot over the wireless Internet, which can achieve a low packet delay and low packet error [7]. Another research made a remote robot control system for inspection and monitoring used the SSH protocol on a snake-like robot via a WIFI network.…”

Section: Introductionmentioning

confidence: 99%

Teleoperation Cloud Industrial Robot using XMPP Protocol

Atmoko*¹,

Yang²,

Abas³

et al. 2019

IJRTE

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Teleoperation is an operation needed to complete a variety of robot tasks in dangerous and difficult-to-reach environments. In the industrial world, teleoperation robots can be used to help humans complete dangerous tasks such as grasping and lifting in the nuclear industry. Controlling industrial robots can be done remotely via the Internet. However, communication still needs to be improved so that it can achieve low latency, be safe, high reliability, and be interoperable. This study proposes the use of the XMPP protocol to handle data interactions between robots and cloud platform. We modified the Robot Operating System (ROS) package by adding a special node that bridges communication using the XMPP protocol. We compare the performance of MQTT with the HTTP protocol. The test results show that the MQTT latency time is better than HTTP. The results of this study can be used in robot teleoperation operations in various industries that consider aspects of communication quality

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A UDP-based protocol for mobile robot control over wireless Internet

Cited by 7 publications

References 7 publications

Intent-Aware Optimal Collision Avoidance and Trajectory Planning for a Pursuit Vehicle

Intent-Aware Optimal Collision Avoidance and Trajectory Planning for a Pursuit Vehicle

Low-frequency sound insulation of honeycomb membrane-type acoustic metamaterials with different interlayer characteristics

Teleoperation Cloud Industrial Robot using XMPP Protocol

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