The Key Technology’s Research Of Teleoperation Robotic System Under Internet Environment

Teleoperation system is widely used in lots of areas. And the Internet based teleoperation can be found everywhere because of the advantage of convenient control et al. The article takes the property of internet into account, and considers that the time delay is generated from the network. Different status of network can generate different time delays, and the time delay can be observed but the network’s status. At the beginning, we treat the real network’s status as the hidden status and regard the time delay which is pre-processed as the observation and then we propose the hidden markov model of the internet. During the computation of the hidden markov model, because of the complicity of the model, the article uses the BIC value to measure the model’s performance. Later, the K-Means algorithm is used to find a better k for the hidden markov model’s iteration, and get the optimal hidden markov model. When we use the internet model to do the prediction, we calculate the pseudo period first with the statistic regularities of the time delay and it can decrease the calculation to get the present’s hidden status.With the hidden markov model of the Internet, we treat the hidden status as the topic of delays. And we put forward the delay’s generative model. The delay’s generative model is expansion of latent dirichlet allocation. Gibbs Sampling is used to get the model’s parameters based on the conditional probability. At last, we do the simulation via the NS2by modifying the TCP protocol, and the results show the better performance of the delay’s jitter, link utilization etc.