Transmission Optimization Algorithm Based on ROS Nodes in Robot Teleoperation

Due to the complexity of remote unstructured environments, it is critical to establish reliable and efficient communication between the operator and the robot in robotic teleoperation. However, in the reality of using wireless networks for communication, there are problems of variable latency, message jitter, and intermittent network outages that affect the performance of teleoperation. To address this problem, an optimization algorithm that applies a combination of dynamic priority scheduling and congestion control is proposed based on the implementation of ROS client nodes for message transmission queues to reduce delays, jitter, and the occurrence of congestion in data exchange and improve teleoperation performance. Through qualitative and quantitative experiments, this solution was compared with existing open source solutions, and the results showed that this solution achieved better results in all test cases, provides a new and effective solution for robot teleoperation enhancement.