Research Of Bandwidth Adaptation Based On Telerobotics

With the rapid development of Internet and robotics technology, and Internet as a data transmission medium between the operator and the robot, a teleoperation platform based on Internet has been established. The development and flexible of telerobotics are enhanced because of Internet, however, Internet itself has some shortcomings, so the telerobotics is also affected by RTT, delay jitter, bandwidth limitations, bandwidth changing, and so on. Therefore, bandwidth is the main content of this paper.This paper concentrares on the study of bandwidth adaptation issues, focusing on the phase of data transmission. First, the NEPRI algorithm to measure available bandwidth is improved, as the measurement accuracy of the round-trip delay(RTT) by AF-TCP protocol; Second, the traditional congestion control algorithm is improved, including congestion aviodance phase, fast retransmission and recovery phase, and embed into AF-TCP, beause of the lower use of available bandwidth for traditional congestion control algorithm; Finally, on the basis of the network indicator of telerobotics, we simulate the process of data transmission of telerobotics by our control system. During all phases of research, we validate the effectiveness by NS2simulation environment, and practicality through validation of the simulation experiments and the real control system. The results show that the proposed bandwidth adaptive approach allows the sender to send data rate can better adapt to the available bandwidth, and utilization of the available bandwidth is effectively improved.