关键词：移动机器人； 远程控制； 核方法； 网络时延； 预测
Time delay prediction and analysis based on kernel method
for mobile robot remote control
LI Xue,HE Yu-yao, YAN Mao-de
(School of Electronic & Control Engineering, Chang’an University, Xi’an 710064, China)
Abstract:This paper built a mobile robot control platform based on Internet; with the consideration of the time-delay non-li-near characteristics of the platform proper, advanced the proposal of regression modeling and prediction to the time-delay series samples by means of linear kernel and RBF kernel methods. An error comparison was conducted between two kinds of predictions: the kernel method prediction and the BP neural network and RBF neural network method prediction. The result shows that, in the process of mobile robot control, compared with the neural network method, the adoption of the kernel method in the prediction of the network time-delay has better function approximation and higher prediction accuracy, so that, according to the predicted time-delay, it is possible to adjust the control instructions of the mobile robot and the network transmission of the status information to guarantee the system reliability and improvement of control performance of the mobile robot.......