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Computer Science > Robotics

arXiv:2207.06718 (cs)
[Submitted on 14 Jul 2022 (v1), last revised 28 Sep 2022 (this version, v2)]

Title:Hardware-in-the-Loop Simulation for Evaluating Communication Impacts on the Wireless-Network-Controlled Robots

Authors:Honghao Lv, Zhibo Pang, Ming Xiao, Geng Yang
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Abstract:More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the simulated robot platform to real network devices. This project seeks to provide robotic engineers and researchers with the capability to experiment without heavily modifying the original controller and get more realistic test results that correlate with actual network conditions. We deployed this HiL simulation system in two common cases for wireless-network-controlled robotic applications: (1) safe multi-robot coordination for mobile robots, and (2) human-motion-based teleoperation for manipulators. The HiL simulation system is deployed and tested under various network conditions in all circumstances. The experiment results are analyzed and compared with the previous simulation methods, demonstrating that the proposed HiL simulation methodology can identify a more reliable communication impact on robot systems.
Comments: 6 pages, 11 figures, to appear in 48th Annual Conference of the Industrial Electronics Society IECON 2022 Conference
Subjects: Robotics (cs.RO); Hardware Architecture (cs.AR)
Cite as: arXiv:2207.06718 [cs.RO]
  (or arXiv:2207.06718v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2207.06718
Related DOI: https://doi.org/10.1109/IECON49645.2022.9968471

Submission history

From: Honghao Lv [view email]
[v1] Thu, 14 Jul 2022 08:02:56 UTC (1,658 KB)
[v2] Wed, 28 Sep 2022 21:45:40 UTC (1,659 KB)
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