Internet-based operation of autonomous robots: The role of data replication, compression, bandwidth allocation and visualization

Authors:
José Guivant;Stephen Cossell;Mark Whitty;Jayantha Katupitiya
Affiliations:
School of Mechanical and Manufacturing Engineering, University of New South Wales, 2052 NSW, Australia;School of Mechanical and Manufacturing Engineering, University of New South Wales, 2052 NSW, Australia;School of Mechanical and Manufacturing Engineering, University of New South Wales, 2052 NSW, Australia;School of Mechanical and Manufacturing Engineering, University of New South Wales, 2052 NSW, Australia
Venue:
Journal of Field Robotics
Year:
2012

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Abstract

The problem of remote-controlling a mobile robot through the Internet with its associated bandwidth constraints is addressed in this paper. Our solution combines a novel communication and processing module with a unique sensor layout and a flexible control architecture to achieve a range of capabilities from traditional teleoperation to point-and-click autonomy. Careful management of the available bandwidth enables a demonstration of these capabilities between nodes with 20,000 km separation while also providing real-time three-dimensional (3D) models of the environment through the Internet. A spatially oriented compression algorithm, integral to efficient bandwidth management, is also presented. Experiments establish the effectiveness of the extended situational awareness in improving the efficiency and accuracy of driving a mobile robot through a cluttered environment over the existing 2D map or video streaming methods. © 2012 Wiley Periodicals, Inc. (See www.youtube.com/UNSWMechatronics and www.robotics.unsw.edu.au for more information.)