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JRM Vol.33 No.6 pp. 1326-1337
doi: 10.20965/jrm.2021.p1326
(2021)

Paper:

LPWAN-Based Real-Time 2D SLAM and Object Localization for Teleoperation Robot Control

Alfin Junaedy, Hiroyuki Masuta, Kei Sawai, Tatsuo Motoyoshi, and Noboru Takagi

Department of Intelligent Robotics, Toyama Prefectural University
5180 Kurokawa, Imizu, Toyama 939-0398, Japan

Received:
May 17, 2021
Accepted:
October 24, 2021
Published:
December 20, 2021
Keywords:
LPWAN, real-time 2D SLAM, teleoperation robot control, mobile robot, search and rescue
Abstract
LPWAN-Based Real-Time 2D SLAM and Object Localization for Teleoperation Robot Control

Teleoperation robot control with 2D SLAM

In this study, the teleoperation robot control on a mobile robot with 2D SLAM and object localization using LPWAN is proposed. The mobile robot is a technology gaining popularity due to flexibility and robustness in a variety of terrains. In search and rescue activities, the mobile robots can be used to perform some missions, assist and preserve human life. However, teleoperation control becomes a challenging problem for this implementation. The robust wireless communication not only allows the operator to stay away from dangerous area, but also increases the mobility of the mobile robot itself. Most of teleoperation mobile robots use Wi-Fi having high-bandwidth, yet short communication range. LoRa as LPWAN, on the other hand, has much longer range but low-bandwidth communication speed. Therefore, the combination of them complements each other’s weaknesses. The use of a two-LoRa configuration also enhances the teleoperation capabilities. All information from the mobile robot can be sent to the PC controller in relatively fast enough for real-time SLAM implementation. Furthermore, the mobile robot is also capable of real-time object detection, localization, and transmitting images. Another problem of LoRa communication is a timeout. We apply timeout recovery algorithms to handle this issue, resulting in more stable data. All data have been confirmed by real-time trials and the proposed method can approach the Wi-Fi performance with a low waiting time or delay.

Cite this article as:
Alfin Junaedy, Hiroyuki Masuta, Kei Sawai, Tatsuo Motoyoshi, and Noboru Takagi, “LPWAN-Based Real-Time 2D SLAM and Object Localization for Teleoperation Robot Control,” J. Robot. Mechatron., Vol.33, No.6, pp. 1326-1337, 2021.
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Last updated on Jan. 20, 2022