This paper considers a communication range extending method using a mobile robot as wireless communication relay node for a robot teleoperation. In the case of long distance wireless communication, and wireless communication in a building and underground environment, it is necessary to extend the communication range by wireless communication relay in order to maintain communication with the teleoperated robot. The proposed method evaluates the communication quality required for remote operation, and moves the robot so that extend the communication range while maintaining comfortable operability. We confirmed that the proposed method operates as a system of “Robot Wireless Sensor Networks” in outdoor environment, and maintains its communication quality.
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