Abstract
We are working to develop an information gathering system comprising a mobile robot and a wireless sensor network (WSN) for use in post-disaster underground environments. In the proposed system, a mobile robot carries wireless sensor nodes and deploys them to construct a WSN in the environment, thus providing a wireless communication infrastructure for mobile robot teleoperation. An operator then controls the mobile robot remotely while monitoring end-to-end communication quality with the mobile robot. Measurement of communication quality on wireless LANs has been widely studied. However, a throughput measurement method has not been developed for assessing the usability of wireless mobile robot teleoperation. In particular, a measurement method is needed that can handle mobile robots as they move around an unknown environment. Accordingly, in this paper, we propose a method for measuring throughput as a measure of communication quality in a WSN for wireless teleoperation of mobile robots. The feasibility of the proposed method was evaluated and verified in in practical field test where an operator remotely controlled mobile robots using a WSN.
Highlights
A wireless sensor network (WSN) would be useful for teleoperation of a mobile robot, but methods for measuring throughput between the operator and robot have not been argued enough
To operate the rescue robot promptly and smoothly, a rapid measurement method is necessary for evaluating the usability of rescue robot teleoperation
Regarding elemental technologies for an robot wireless sensor network (RWSN) information gathering system in post-disaster underground spaces, we have previously reported details of the RWSN, development of impact-resistant sensor node, a rescue robot with a sensor node deployment mechanism, and an RWSN construction method that employs a rescue robot with WSN technology
Summary
A wireless sensor network (WSN) would be useful for teleoperation of a mobile robot, but methods for measuring throughput between the operator and robot have not been argued enough. The communication distance between the rescue robot and the adjacent sensor node in an ad hoc network changes as the robot moves around, and so the electric field signal strength between the rescue robot and adjacent sensor node fluctuates For these reasons, existing methods cannot perform accurate measurement of throughput between the rescue robot and operator in an unstable communication environment such as a post-disaster underground space. Sending and receiving packets requires a few minutes, which reduces the usability of rescue robot teleoperation When such a method is used, the operator cannot control the rescue robot during throughput measurement because many communication packets are sent instead of control packets. To prevent network disconnection while deploying sensor nodes, during each interval the operator must stop the rescue robot by utilizing command packets and measure throughput as indicator of the strength of wireless communication connectivity between the rescue robot and operator.
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