Issues of identifying, estimating and using delay times in telecontrol systems based on TCP/IP networks

Octavian Stefan, Toma L. Dragomir, Alexandru Codrean, Ioan Silea
2010 IFAC Proceedings Volumes  
We study the problem to teleoperate a Caterpillar 973c track loader. The track loader and a system for teleoperation are described. A tested and working kinematic model used for dead reckoning is also presented. Track speed sensors combined with a rate gyro are used as input to the model. The model shows good results when tested and compared to a GPS navigation system. Fig. 1. A teleoperated Caterpillar 973c track loader.
doi:10.3182/20101005-4-ro-2018.00046 fatcat:v3yurc3yubfileons6pyggzufe