Wireless HROV control with compressed visual feedback over an acoustic link

TitleWireless HROV control with compressed visual feedback over an acoustic link
Publication TypeConference Paper
Year of Publication2017
AuthorsCentelles, D, Moscoso, E, Vallicrosa, G, Palomeras, N, Sales, J, Martí, JV, Marín, R, Ridao, P, Sanz, PJ
Conference NameOCEANS 2017 - Aberdeen
Date Published10/2017
Conference LocationAberdeen (UK)
ISBN Number978-1-5090-5278-3
Accession Number17303448
Keywordsacoustic communication link, acoustic link, Acoustics, bidirectional transport protocol, camera, Cameras, communication device, compressed visual feedback, data compression, hardware in the loop, high level protocols, hybrid remotely operated vehicle, image coding, image compression algorithm, MERBOTS Spanish national project, mobile robots, Modems, network simulator, remotely operated vehicles, robot vision, Robots, ROS-based network simulator, S2CR 18/34 modems, telemetry data, telerobotics, transport protocols, underwater acoustic communication, underwater robot, underwater vehicles, UWSim simulator, Wireless communication, wireless HROV control, wireless teleoperation

This paper presents the current state of the development of a Wireless HROV (Hybrid Remotely Operated Vehicle HROV), providing feedback of both, camera and telemetry data to the operator, over an acoustic communication link. This experiment is part of the MERBOTS Spanish national project (www.irs.uji.es/merbots). This work has as main objective the design of a bidirectional transport protocol for wireless teleoperation of an underwater robot using high level commands and a progressive image compression algorithm. Preliminary Hardware In the Loop results combining two S2CR 18/34 modems in a scenario with high level of multi-path, a freshwater pool, and the UWSim simulator are presented. Finally, a ROS-based network simulator that is still in an early stage of development is presented. This simulator will be useful for modeling high-level behavior of any communication device, and to improve high level protocols when the real modems are not available.