抄録
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 robot. For this purpose, the teleoperation interface server that controls communication between an operator and robots via WSN was developed and a modified routing 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 Linux PCs was developed, and teleoperation using this system was demonstrated. Communication performance was confirmed to evaluate proposed protocol.
