Performance Evaluation of Transport Protocols for Internet-Based Teleoperation Systems
نویسندگان
چکیده
An Internet-based teleoperation system is an interactive application where a human user transmits movement data of a robotic device while simultaneously receiving reflected force data from a remote teleoperator. Performance of such real-time applications is highly sensitive to the Internet delay and data loss. In this paper, we describe the efficient transport protocol (ETP) designed for Internet-based teleoperation systems and demonstrate that it reduces the round trip time (RTT) between a human user and a remote teleoperator. We use OPNET Modeler to simulate the ETP protocol and compare its performance with the transport control protocol (TCP) and the user datagram protocol (UDP) by measuring end-to-end delays in various simulation scenarios. We observe that with UDP as a transport protocol, ETP reduces the end-to-end delay by introducing an inter-packet gap (IPG).
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