The remote control of mobile robot on the Internet

During last decades, the Internet teleobotics has been growing at an enormous rate due to the rapid improvement of Internet technology. This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct continuous control based teleoperation architecture with “Speed Limit Module” (SLM) and “Delay Approximator” (DA) is proposed. This direct continuous control architecture guarantees the path error of the robot motion is restricted within the path error tolerance of the application. Experiment results show the feasibility and effectiveness of this direct Internet control architecture in the real Internet environment.