Parameter Tuning of Routing Protocols to Improve the Performance of Mobile Robot Teleoperation Via Wireless Ad-hoc Networks

Currently, the use of wireless networks is very common in the field of networked robotics and can be considered as a key issue for capable multi robot systems with a high grade of mobility. Nevertheless, this mobility requests for special features of the communication infrastructure, which leads to the integration of mobile robots into wireless ad-hoc networks. Since the late nineties, more than 80 ad-hoc routing protocols were developed and nowadays some of them are implemented and ready to use in real world applications. A comparison of four ad-hoc routing protocols (AODV, DSR, OLSR, and BATMAN) showed some shortfalls of the default parameter settings not allowing a reliable teleoperation of mobile robots while using AODV, OLSR, or BATMAN. This work is focused on the parameter tuning of the routing protocols to use them in wireless ad-hoc networks of mobile robots. The time required for route reestablishing, as well as the packet loss during rerouting is investigated in hardware tests of a network with dynamic network topology consisting of mobile robots. It could be demonstrated, that an appropriate parameter setting of OLSR and AODV allow the teleoperation of mobile robots in outdoor environments via a wireless ad-hoc network.

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