Mobile Robot Teleoperation to Consider the Stability over the Time-Delay of Wireless Network

무선네트워크의 시간지연을 고려한 원격이동로봇의 안정성에 대한 연구

When a system is teleoperated in the indoor environment through the wireless LAN, the communication time delay that is due to the inherent characteristic and surrounding environment is random and unbounded. The time delay has a significant effect on the stability and performance of the teleoperating system. In this paper, we present the method that is the image compression, measuring time delay and switching control-mode corresponding to time delay automatically, to improve stability and performance, and the simple experiment is conducted to demonstrate the feasibility