| （英） |
Communication delay is one of the technical problems for a networked robot system to work properly. Especially for mobile robots, using a wireless link is desirable because it does not impose any restriction on the movable areas of the robots. However, wireless communication may deteriorate the stability and/or responsiveness of remote control. To address this problem, control commands must be prepared on the basis of the prediction results for the communication delay. In this talk, the two-state model is introduced, which has been proposed to predict the probability distribution function of the round-trip communication delay of wireless links. The prediction results by the proposed methods is also introduced along with the measurement results obtained by using Wi-Fi, LTE, and 5G link. As an application, we present a robot system where two robots carry various kinds of logistic carts in cooperation. |