移動ロボット遠隔退避時における操作性低下の軽減を目的とした操作プロトコルの提案

抄録

We have been discussing information gathering system using mobile robots in closed space after disaster. However, when the wireless LAN connecting the operator and the mobile robot is disconnected, tele-operation by the operator becomes impossible and the mobile robot is in distress. Therefore, we have proposed distress prevention method using LoRaWAN as backup communication infrastructure. In this study, we discuss an operation method using a gamepad as a tele-operation method when using backup communication infrastructure. However, when communication quality degraded and communication delays such as packet loss, operability is degraded. Therefore, this paper proposes a system that detect degradation of communication quality and reduce operability degradation by using tele-operation protocol that changes mobile robot movement.