Department of Electrical Engineering, School of Engineering, University of Management and Technology (UMT), Lahore 54770, Pakistan.
Department of Computer Engineering, Umm Al-Qura University, Makkah 21955, Saudi Arabia.
Sensors (Basel). 2022 May 23;22(10):3948. doi: 10.3390/s22103948.
The tele-presence robot is designed to set forth an economic solution to facilitate day-to-day normal activities in almost every field. There are several solutions to design tele-presence robots, e.g., Skype and team viewer, but it is pretty inappropriate to use Skype and extra hardware. Therefore, in this article, we have presented a robust implementation of the tele-presence robot. Our proposed omnidirectional tele-presence robot consists of (i) Tricon ultrasonic sensors, (ii) Kalman filter implementation and control, and (iii) integration of our developed WebRTC-based application with the omnidirectional tele-presence robot for video transmission. We present a new algorithm to encounter the sensor noise with the least number of sensors for the estimation of Kalman filter. We have simulated the complete model of robot in Simulink and Matlab for the tough paths and critical hurdles. The robot successfully prevents the collision and reaches the destination. The mean errors for the estimation of position and velocity are 5.77% and 2.04%. To achieve efficient and reliable video transmission, the quality factors such as resolution, encoding, average delay and throughput are resolved using the WebRTC along with the integration of the communication protocols. To protect the data transmission, we have implemented the SSL protocol and installed it on the server. We tested three different cases of video resolutions (i.e., 320×280, 820×460 and 900×590) for the performance evaluation of the video transmission. For the highest resolution, our TPR takes 3.5 ms for the encoding, and the average delay is 2.70 ms with 900 × 590 pixels.
远程临场机器人旨在提出一种经济解决方案，以促进几乎每个领域的日常正常活动。有几种设计远程临场机器人的解决方案，例如 Skype 和 TeamViewer，但使用 Skype 和额外的硬件非常不合适。因此，在本文中，我们提出了一种强大的远程临场机器人实现方案。我们提出的全向远程临场机器人由 (i) Tricon 超声波传感器、(ii) 卡尔曼滤波器实现和控制以及 (iii) 将我们开发的基于 WebRTC 的应用与全向远程临场机器人集成以进行视频传输组成。我们提出了一种新算法，该算法使用最少数量的传感器来遇到传感器噪声，以实现卡尔曼滤波器的估计。我们已经在 Simulink 和 Matlab 中对机器人的完整模型进行了模拟，以应对艰难的路径和关键障碍。机器人成功避免了碰撞并到达了目的地。位置和速度估计的平均误差分别为 5.77%和 2.04%。为了实现高效可靠的视频传输，我们使用 WebRTC 解决了分辨率、编码、平均延迟和吞吐量等质量因素，并集成了通信协议。为了保护数据传输，我们实现了 SSL 协议并将其安装在服务器上。我们测试了三种不同的视频分辨率情况（即 320×280、820×460 和 900×590），以评估视频传输的性能。对于最高分辨率，我们的 TPR 编码需要 3.5 毫秒，平均延迟为 2.70 毫秒，像素为 900×590。
