Internet-based teleoperation: A case study - toward delay approximation and speed limit module

Zhong Shengtong (1) , Philippe Le Parc (2) , Jean Vareille (2)

1 Computer Science Dept.
2 LISYC - Laboratoire d'Informatique des Systèmes Complexes

This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with “Speed Limit Module” (SLM) and “Delay Approximator” (DA) is proposed. This direct control architecture guarantees the path error of the robot motion is restricted within the path error tolerance of the application. Experiment results show the effectiveness and applicability of this direct internet control architecture in the real internet environment.

Mots clés: Remote control; teleoperation; mobile robot; Internet delay; path error; Delay Approximator; speed limit

Domaines: Informatique ubiquitaire

Zhong Shengtong, Philippe Le Parc, Jean Vareille. Internet-based teleoperation: A case study - toward delay approximation and speed limit module. ICINCO 2007, Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics, Robotics and Automation 1, May 2007, Angers, France. pp.267-270. ⟨hal-00497821⟩