Teleoperating a mobile robot. A solution based on JAVA language

摘要

This article describes a computational framework, which can run almost on every computer connected to a IP-based network, to study teleoperation techniques. The paper discusses the teleoperation of a mobile platform from a remote computer, both connected by the Internet communication network. To obtain a cheap and portable solution, the user interface and communication management was developed using Java language. The development based on this language gave a cheap, portable and easy to improve software package that is useful to test new control techniques with large time delays. Since the real time control over the Internet can suffer from unpredictable delays and bandwidth constraints, the authors use the RTP protocol to overcome some of these problems.