Suppresses Operability Degradation of Mobile Robot Due to Packet Loss by Changing Reflection Cycle of Operation Command

ABSTRACT In this study, we discuss tele‐operation of mobile robot to gather information in closed space after disaster. Information gathering by mobile robot need to communicate with operator. In this communication, Robot Wireless Sensor Networks (RWSN) has been proposed to expand tele‐operation range by repeaters that relays wireless LAN. However, RWSN has risk such as communication disconnection due to repeater failure or radio frequency interference. When communication is lost, operator cannot tele‐operation mobile robot. Therefore, we have proposed tele‐operation using LoRaWAN as sub communication infrastructure. We discuss “proportional control tele‐operation” as a method of operation when using sub communication infrastructure. In this method, operator's gamepad input is transmitted via LoRaWAN to enable constant operation. However, when the communication quality degrades cause back and forth vibration of mobile robot. This vibration leads to degrade operability of the mobile robot tele‐operation system. Therefore, in this paper, we propose a system that suppress operability degradation by vibration of mobile robot.