Design And Implementation Of A Communication Platform For Internet-based Teleoperation

Internet-based teleoperation has become a hot topic for researchers all over theworld with the development of information technology. Transmission delay inInternet-based teleoperation is always the main factor influencing robustness andtransparency of the system. Negative effects on the teleoperation system brought in bydelay could be reduced by taking measures such as reducing transmission delay,improving control structure of the system and adopting compensation algorithm.In order to reduce time delay, methods of transmission control are researched in thisthesis. The overall structure of the system and functional structure of the communicationplatform are designed and put forward first. Then main factors that influence thetransmission delay are analysed through delay-testing experiment. According to the resultof the delay-testing experiment and characteristic of data transmission, a newtransmission protocol based on UDP is designed for communication platform. Protocolpacket containing a wealth of data information and different transmission controlstrategies for different types of data are designed in the new protocol. Strategy ofreceiving end applying for the retransmission of the packet with initiative for packet loss,rate-based congestion control and rate control algorithm based on the generation rate ofdata are designed to ensure the quality of data transmission. And a timeout predictionalgorithm was designed on the basis of delay prediction.The communication platform of teleoperation system is developed with Winsockmethod in the environment of VC++. The effectiveness of the communication platform inreducing the teleoperation delay and improving the quality of teleoperation taskexecuting is verified in the delay-testing experiment and specific teleoperation taskexperiment.