Transport Protocolof Network Control For Mobile Robot

Internet-based remote control of mobile robot has wide application areas in future. Thereare high requirements on real-time data transmission and data transmission quality in thenetwork-based control system of mobile robot. In the wireless mobile environment and internetenvironment with limited bandwidth and congestion, it has the vital significance to ensurereal-time data transmission and data transmission quality in the network control system.The main work of this paper is the transport protocol research of mobile robot networkcontrol system. Related work includes the following aspects.（1）The related transport protocols of mobile robot network control system have beenanalyzed, and an application layer transport protocol named RTSMP(Robot TransportStreaming and Message Protocol) is designed in this paper. Kinds of message data andstreaming media data can be transmitted with RTSMP in the network control system.（2）In order to ensure the reliability of the control instructions transmission, theconfirmation and retransmission timeout algorithm are designed in the RTSMP.（3）In order to meet the requirements of real-time data transmission and smoothness whenstreaming media data is transmitted, a congestion mechanism named TFRC-Re which based onTFRC (TCP Friendly Rate Control) is proposed in RTSMP. In TFRC-Re, aiming at theproblem that the wireless packet loss is misunderstood as congestion packet loss in the wirelessand wired environment, resulting in lower end-to-end performance when network controlsystem works with TFRC, the round trip time between robot server and client and the Re[n]sequence number renumbered by robot server are used to compute the loss event rate. Theexperiment shows that TFRC-Re can greatly improve the throughput and sending rate, andposses TCP-Friendly characteristic.（4）Finally, mobile robot network control system based on RTSMP is implemented, including the implementation of remote monitoring system, RTSMP protocol and applications.In order to reduce the streaming media data traffic in the network, the H.264and Mp3encodingstandard for video and audio compression are used in the system. In addition, decoding andplay back modules are implemented based on DirectShow in the control client. The wholesystem is tested through experiments.