Effect of Packet Loss on the Quality of Control of a Networked Mobile Robot

Abstract

This paper describes a wireless network based control of a Khepera mobile robot moving in a WLAN distributed infrastructure. Due to the dependence of quality of control (QoC) over network quality of service (QoS), a simulation is performed for packet losses and compared to actual results in the lab environment. The network effects are examined and critical limit is determined for which control quality is acceptable. A Bayesian network approach is proposed for the decision of switching between the embedded and off-board controller as well as the horizontal handoff in multi-station scenario.