Mobile Robot Teleoperation via Multi Robot Sensor Network

摘要

This paper discusses a mobile robot teleoperation system via an Multi-Robot Sensor Network (MRSN) that consists of Wireless Sensor Network (WSN) and multiple mobile robots. For this purpose?? the teleoperation interface server that controls communication between an operator and robots via WSN was developed and a modifiedrouting protocol based on AODV-uu was installed to MRSN. The operator can teleoperate mobile robot directly and indirectly using this system. The teleoperation system using two mobile robots and WSN composed of five small LinuxPCs was developed?? and teleoperation using this system was demonstrated. Communication performance wasconfirmed to evaluate proposed protocol.