予備通信インフラとしてLoRaWANを用いた耐遅延多段中継型移動ロボット遠隔操作手法

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2024/09/01

タイトル(英語): Delay-Tolerant Multi-Stage Relay Type Mobile Robot Tele-Operation Method Using LoRaWAN as Sub Communication Infrastructure

著者名: 横井　亮祐（富山県立大学），澤井　圭（富山県立大学），髙木　俊佑（富山県立大学），高木　昇（富山県立大学），増田　寛之（富山県立大学），本吉　達郎（富山県立大学）

著者名(英語): Ryosuke Yokoi (Toyama Prefectural University), Kei Sawai (Toyama Prefectural University), Shunsuke Takagi (Toyama Prefectural University), Noboru Takagi (Toyama Prefectural University), Hiroyuki Masuta (Toyama Prefectural University), Tatsuo Motoyoshi (Toyama Prefectural University)

キーワード: 移動ロボット，遠隔操作，LoRaWAN，予備通信インフラ，robot wireless sensor networks，多段中継ネットワーク　　mobile robot，tele-operation，LoRaWAN，sub communication infrastructure，robot wireless sensor networks，multi relay communication networks

要約(英語): In closed spaces after disasters, information gathering using mobile robots is conducted to prevent secondary disasters, such as injuries or fatalities of rescue teams. However, in such closed spaces, it is necessary for the mobile robots to establish their own communication infrastructure. Therefore, a method has been considered where multi-stage relay devices capable of relaying wireless LAN are deployed to expand the range of tele-operation. Nevertheless, there is a risk that the wireless LAN may be disconnected due to multi-stage relay device malfunctions during the mission, causing the mobile robot to become an obstacle and hindering information gathering. To address this issue, we have proposed a method when, in the event of communication disconnection with the mobile robot operating through wireless LAN, LoRaWAN is used as a sub communication infrastructure to enable retreat. However, LoRaWAN is characterized by one-way communication from the child device to the parent device. Consequently, when performing tele-operation through multi-stage relay using LoRaWAN, there is a problem of accumulated delays during continuous packet transmission. In this paper, we propose a low-latency multi-stage relay tele-operation method using LoRaWAN and demonstrate its effectiveness.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.144 No.9 （2024） 特集：知能メカトロニクス分野と連携する知覚情報技術

本誌掲載ページ: 926-935 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/144/9/144_926/_article/-char/ja/