2023 Volume 85 Issue 6 Pages 393-399
To control the steering of a robot with the help of a cloud computing infrastructure, there is a delay due to the network and the enormous quantity of calculations. So, in this study, we sought to develop a method that estimates lateral error with delay based on the geometric model and using the estimated value for steering control. The lateral error estimated by this delay compensation method was accurate to 0.04 m, providing adequate estimation accuracy. In addition, when a machine vision-based steering control system was deployed in the cloud and delay compensation was implemented, displacement accuracy was improved by 76%. These findings indicate the efficiency of the transmission delay compensation system based on the robot’s geometric model.
