Arquitectura para teleoperación inalámbrica con realimentación visual de ROVs basados en ArduSub
- Diego Centelles 1
- Antonio Soriano 2
- Raúl Marín 1
- Pedro J. Sanz 1
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1
Universitat Jaume I
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2
Universitat de València
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- Inés Tejado Balsera (coord.)
- Emiliano Pérez Hernández (coord.)
- Antonio José Calderón Godoy (coord.)
- Isaías González Pérez (coord.)
- Pilar Merchán García (coord.)
- Jesús Lozano Rogado (coord.)
- Santiago Salamanca Miño (coord.)
- Blas M. Vinagre Jara (coord.)
Argitaletxea: Universidad de Extremadura
ISBN: 978-84-9749-756-5, 978-84-09-04460-3
Argitalpen urtea: 2018
Orrialdeak: 408-415
Biltzarra: Jornadas de Automática (39. 2018. Badajoz)
Mota: Biltzar ekarpena
Laburpena
An upgrade of the BlueROV architechture is introduced in this work, so that it enables wireless teleoperations using a channel with extremelly narrow bandwith. A cross layer protocol, appart from the TCP/IP stack is proposed. An progressive image compression algorithm, named DEBT (Depth Embedded Block Tree), is integrated within the teleoperation system. Thus, providing visual feedback UWSim-simulator was used as a human-robot interface (HRI) virtual reality extension.