Interventional Teleoperation Protocol that Considers Stair Climbing or Descending of Crawler Robots in Low Bit-rate Communication

In teleoperation of a crawler robot in a disaster-stricken enclosed space, distress of the crawler robot due to communication breakdown is a problem. We present a robot teleoperation system using LoRaWAN as a subcommunication infrastructure to solve this problem. In this system, the crawler robot is operated by teleoperation using a subcommunication infrastructure in a place where a wireless local area network (LAN) communication is possible. In this study, we assume an environment in which the crawler robot must ascend and descend stairs to evacuate to a place where wireless LAN communication is possible. In addition, the disaster-stricken environment is considered as an environment where obstacles are expected to suddenly occur, and the crawler robot has difficulty avoiding obstacles on the stairs. In this paper, we propose a teleoperation communication protocol that considers the risk of sudden appearance of obstacles and confirm its effectiveness using evaluation experiments in a real environment.

@article{Sakaki2023,
  title     = {Interventional Teleoperation Protocol that Considers Stair Climbing or Descending of Crawler Robots in Low Bit-rate Communication},
  journal   = {International Journal of Advanced Computer Science and Applications},
  volume    = {14},
  number    = {1},
  year      = {2023},
  publisher = {The Science and Information Organization},
  author    = {Tsubasa Sakaki and Kei Sawai},
  doi       = {10.14569/IJACSA.2023.0140189},
  url       = {https://doi.org/10.14569/IJACSA.2023.0140189}
}