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

Kei Sawai,Toru Oshima,Tatsuo Motoyoshi,Ken’Ichi Koyanagi,Hiroyuki Masuta,Takumi Tamamoto,Satoshi Aoyama

doi:10.14569/ijacsa.2019.0100713

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.

Highlights

After a disaster occurs, disaster reduction activities that minimize damage in the disaster-stricken area are important for early recovery and reconstruction activities [1]
We propose a teleoperation method for a mobile robot www.ijacsa.thesai.org (IJACSA) International Journal of Advanced Computer Science and Applications, Vol 10, No 7, 2019 that uses leaky coaxial cable (LCX) with TCP/IP, and we evaluate the operability of the teleoperation of the mobile robot at the TCP/IP level
We proposed a new teleoperation system that implements TCP/IP on an LCX as a teleoperation method for mobile robots in a closed space

Summary

Introduction

Disaster reduction activities that minimize damage in the disaster-stricken area are important for early recovery and reconstruction activities [1]. Disaster mitigation is a method to minimize damage after a disaster occurs [4]. It is important to collect information on the disaster-stricken area during these disaster mitigation activities, where drones and already existing communication infrastructures are often used. In closed spaces, it is impossible to collect information from the sky, and the risk of failure of the already existing infrastructure is high. Information gathering by rescue workers is known to create a high risk of secondary disasters, such as fires and collapses, in closed spaces [5]

Objectives

Findings

Discussion

Conclusion