Distance Estimation Error Compensation of a Direct Control Type, Internet-based Mobile Robot System

This research is concerned with the development of an Internet-based mobile robot system, which is insensitive to the unpredictable Internet time delay in data transmission. For this purpose, the PPS (Position Prediction Simulator) is suggested and implemented to compensate for the time delay problem of the Internet. The PPS is divided into two parts, including the 3D virtual simulator and the robot position prediction part. The proposed PPS shows the visual information of a remote site, which is obtained from image processing and predicted position considering the time delay. The simulation results showed that the direct control using the PPS is insensitive to the time delay problem as in the indirect control. For the verification of the proposed PPS, the robot was moved and stopped following the planned path under various traffic conditions. The experimental results showed that the distance error could be reduced using the developed PPS.