Reliability of ROS Networked Mobile Robots

Q4 Computer Science

International Journal of Open Source Software and Processes Pub Date : 2019-01-01 DOI:10.4018/IJOSSP.2019010103

P. Oksa, T. Lipping

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引用次数: 0

Abstract

When working remotely with mobile robotics, a reliable wireless communication network becomes essential, especially in large operating regions. As most teleoperated robots rely on standard Wi-Fi communication, network behavior has a crucial effect on autonomous robot control. The main goal of this research is to measure and diagnose the system reliability, roaming issues, and bottlenecks of such data transmission. To study these significant factors, two measurement scenarios were conducted. Measurements consist of two Wi-Fi access points (AP) and a TurtleBot II robot used in two different system set-up configurations. In the first configuration, two APs are connected in bridge mode (LAN connection) and in the second configuration the APs are connected in WDS bridge (Wireless Data Distribution) mode. This article presents the results of Robot Operating System (ROS) IEEE 802.11 network measurements in roaming mode, in wireless bridge mode, and in an extended coverage area employed in WDS mode. Results of data transmission measurements, configurations, and evaluation of the entire system are also presented. All the measurements utilize the Open Cloud Robotic Platform (OpenCRP)1 an open-source cloud robotics ecosystem based on service-oriented PaaS architecture using the Ubuntu Linux operating system.

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ROS网络移动机器人的可靠性

当使用移动机器人进行远程工作时，可靠的无线通信网络变得至关重要，特别是在大型操作区域。由于大多数遥控机器人依赖于标准的Wi-Fi通信，因此网络行为对自主机器人的控制具有至关重要的影响。本研究的主要目标是测量和诊断系统可靠性、漫游问题和此类数据传输的瓶颈。为了研究这些显著因素，进行了两种测量情景。测量包括两个Wi-Fi接入点(AP)和一个在两种不同系统设置配置中使用的TurtleBot II机器人。在第一种配置中，两个ap以网桥模式(LAN连接)连接，在第二种配置中，两个ap以WDS网桥(无线数据分发)模式连接。本文介绍了机器人操作系统(ROS) IEEE 802.11网络在漫游模式、无线网桥模式和WDS模式所采用的扩展覆盖区域下的测量结果。数据传输测量的结果，配置和整个系统的评估也给出了。所有的测量都使用开放云机器人平台(OpenCRP)1，这是一个基于面向服务的PaaS架构的开源云机器人生态系统，使用Ubuntu Linux操作系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Open Source Software and Processes Computer Science-Software

CiteScore

1.90

自引率

0.00%

发文量

期刊介绍： The International Journal of Open Source Software and Processes (IJOSSP) publishes high-quality peer-reviewed and original research articles on the large field of open source software and processes. This wide area entails many intriguing question and facets, including the special development process performed by a large number of geographically dispersed programmers, community issues like coordination and communication, motivations of the participants, and also economic and legal issues. Beyond this topic, open source software is an example of a highly distributed innovation process led by the users. Therefore, many aspects have relevance beyond the realm of software and its development. In this tradition, IJOSSP also publishes papers on these topics. IJOSSP is a multi-disciplinary outlet, and welcomes submissions from all relevant fields of research and applying a multitude of research approaches.