Development of Teleoperation Software for Wheeled Mobile Robot
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Wireless technology in our daily lives is giving a way to more and more inter connected devices. More increasingly innovative applications are being developed for daily usage ranging from simple sensing devices to autonomous robots. With all these extra additions, the burden on wireless technologies such as WLAN and 3G/4G/LTE is leading to the development of new network architectures and protocols. Teleoperation of remote devices are finding their way into common places using those technologies. In this thesis work a teleoperation software was developed to use wireless serial devices to control a remote robot over the network and perform autonomous tasks under the supervision of an operator. The robot is an indoor wheeled mobile robot and operator's device is a computer, both running on Windows OS. This system is similar to a Wireless Sensor Networks with actuators and sensors being on the robot device while the control brain is on a remote computer. The full system has several components like graphics for robot parameters, settings for communications, modes of operations for operator and robot's own localization and safety tasks. Field tests validated the full functionality of the system but in four out of nine trials failure of wireless devices caused complete system paralysis. An autonomous trajectory following operation was implemented to study the effects of packet loss in communication, it was found that control was reliable even with 26% drop. With a linear driving test it was also observed that robot's free moving wheel was causing an orientation error adding an extra 0.06degree when moving backwards. A continuous transmission of data packets in the network ensures reliability in the system, this is very important from operator's perspective.
Place, publisher, year, edition, pages
2016. , 88 p.
Technology, Teleoperation, Telerobotics, Mobile robots, Pioneer 3-Dx, Wireless networks
IdentifiersURN: urn:nbn:se:ltu:diva-51384Local ID: 894a9223-64f4-4aa7-b1aa-ce22561db8cdOAI: oai:DiVA.org:ltu-51384DiVA: diva2:1024745
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Enmark, AnitaKyrki, Ville
Validerat; 20160622 (global_studentproject_submitter)2016-10-042016-10-04Bibliographically approved