A Delay-Tolerant Potential-Field-Based Network Implementation of an Integrated Navigation System

TL;DR

This paper presents a delay-tolerant, potential-field-based networked control system that integrates various modules like webcams, UGVs, and remote servers over the Internet, emphasizing robustness and real-time operation.

Contribution

It introduces a practical design for network controllers using the Internet, enabling real-time integration of diverse modules for UGV navigation with improved robustness.

Findings

Successful real-time integration of webcam, UGV, and remote server

Performance comparable or superior to previous network controllers

Robust operation demonstrated through experimental results

Abstract

Network controllers (NCs) are devices that are capable of converting dynamic, spatially extended, and functionally specialized modules into a taskable goal-oriented group called networked control system. This paper examines the practical aspects of designing and building an NC that uses the Internet as a communication medium. It focuses on finding compatible controller components that can be integrated via a host structure in a manner that makes it possible to network, in real-time, a webcam, an unmanned ground vehicle (UGV), and a remote computer server along with the necessary operator software interface. The aim is to deskill the UGV navigation process and yet maintain a robust performance. The structure of the suggested controller, its components, and the manner in which they are interfaced are described. Thorough experimental results along with performance assessment and comparisons to a previously implemented NC are provided.