摘要
提出了一种基于移动通信网的多机器人遥操作方案,解决了在恶劣的移动环境中如何保证系统稳定性,并进行具有实时力觉、视觉反馈的双向遥操作等问题。其中通过比较现存的各种视频压缩标准,结合关键帧提取、帧分割等技术,提出了一种移动网中的实时视频传输方案。一系列室外机器人群编队行进实验验证了方案的有效性。
A prototype system for controlling multi-robot via the mobile communication networks was presented. In spite of severe network environment, the proposed project guarantees the stability of the system first and bilateral teleoperation with real-time haptic and video feedback was provided. Based on experimental investigation and comparison of existing video codec standards, a method using key frame extraction, frame split, etc, had been developed to transfer smooth video stream through mobile networks. Experiments of multi-robot formation have been carried out to demonstrate usefulness of the developed system.
出处
《通信学报》
EI
CSCD
北大核心
2006年第5期52-59,共8页
Journal on Communications
基金
国家自然科学基金资助项目(60334010)
国家高技术研究发展计划("863"计划)基金资助项目(2002AA422250)
香港RGC资助项目~~
关键词
移动通信网
遥操作
关键帧
力反馈
mobile communication network
teleoperation
key frame
force feedback
