Model-based remote control of nonholonomic wheeled robot with time delay and packet loss in forward channel

This paper proposed a model based remote control scheme of the wheeled mobile robot considering the communication delay and packet loss in the forward channel. The feedback control is designed, under which the error of position can converge to a neighbourhood of origin. The positive compensation of the communication delay and packet loss is proposed. Finally the proposed control strategies are valid by a simulation composed the mathematical kinematic model of WMRs and the real network environment.