Mesh networking optimized for robotic teleoperation

摘要

Mesh networks for robot teleoperation pose different challenges than those associated with traditional mesh networks. Unmanned ground vehicles (UGVs) are mobile and operate in constantly changing and uncontrollable environments. Building a mesh network to work well under these harsh conditions presents a unique challenge. The Manually Deployed Communication Relay (MDCR) mesh networking system extends the range of and provides non-line-of-sight (NLOS) communications for tactical and explosive ordnance disposal (EOD) robots currently in theater. It supports multiple mesh nodes, robots acting as nodes, and works with all Internet Protocol (IP)-based robotic systems. Under MDCR, the performance of different routing protocols and route selection metrics were compared resulting in a modified version of the Babel mesh networking protocol. This paper discusses this and other topics encountered during development and testing of the MDCR system.