Enhancing Network Stability and Performance with Per-VLAN Spanning Tree and Trunk Load Balancing for Wired and Wireless Robotics Applications

Abstract

This paper describes the use of the Rapid Per-VLAN Spanning Tree Protocol (Rapid-PVST+) and trunk load balancing in a network setup for both wired and wireless communications in robotic applications. We use two Cisco business class switches trunked together over three different wireless point-to-point signal stacks. Multiple hosts are connected to this TCP/IP network and utilize both custom and standardized protocols for robot control, remote systems management, and camera streaming. We present a detailed description of our network topology, configuration, and the benefits that Rapid-PVST+ and load balancing provides compared to a single wireless connection, along with results that demonstrate the effectiveness in improving network stability and performance in complex robotic applications. This paper provides insights and practical guidance for implementing similar setups in other robotic applications and discusses potential improvements to further increase network speed and reliability.