Enhancing Field Testing of a Teleoperated Robotic System with Wireless Handheld Control

Abstract

This paper examines the usage of a microcontroller to wirelessly send commands to its destination using the Transmission Control Protocol (TCP). The system was designed to assist the testing of a Mars rover designed for the 2020 University Rover Challenge. RoveComm, the rover’s custom message protocol, is used to wirelessly trigger an emergency shutdown of the rover’s power systems as well as manipulate the robotic arm and science systems while testing out in the field. To facilitate reliable communication to the rover during testing scenarios, a TCP implementation for RoveComm was developed to ensure reliable message delivery to all rover control systems. The wireless controller features a 32-bit microcontroller with an integrated wifi stack which transmits signals with a 2.4 GHz external antenna to a pair of circularly polarized omnidirectional antennas mounted on the rover. The controller allows for transmission of custom RoveComm commands, reducing the hazard of having a physical operator within reaching distance and enhancing the rigor of terrain and operation testing that can be undergone.