Protocol based on packet transmission to teleoperate a skid steered Mobile Machine

This paper is the next stage in the result of my research in wireless teleoperation on hydraulic mobile machines. In this paper I aim to explain the benefits of using a multi-packet protocol versus a mono-packet protocol. During my research work the system has been updated from the mono-packet protocol to the multi-packet protocol to provide the system with more flexibility to face possible changes. The use of multi-packet protocol gives the system the ability to perform configurations during teleoperation time, something that is impossible with mono-packet protocol. To achieve these features the use of different data and control packets between Control Station (CS) and Mobile Machine (MM) are required.