搭建云控无人机测试框架，模拟真实网络环境验证远程控制可行性
Cloud-Assisted Remote Control for Aerial Robots: From Theory to Proof-of-Concept Implementation
- 用容器化技术构建云端集群与机器人仿真环境
- 通过UDP隧道实现双向通信并引入延迟/抖动模拟真实网络
- 为云机器人系统提供可扩展的实测验证平台，适合研究者参考
云机器人技术因其可卸载计算任务、促进数据共享和提升机器人协同能力而备受关注。然而，将云计算与机器人结合仍面临网络延迟、安全问题及资源管理效率等挑战。本文提出一种可扩展且直观的框架，用于测试云与边缘机器人系统。该框架基于容器化技术，包含两个核心组件：(a) 容器化的云集群，(b) 容器化的机器人仿真环境。系统通过用户数据报协议（UDP）隧道在云端容器与机器人仿真环境间实现双向通信，并模拟真实网络条件。为此，我们以空中机器人云辅助远程控制为应用场景，利用基于Linux的流量控制工具引入人工延迟和抖动，复现实际云-机器人部署中遇到的动态网络状况。
原文摘要 · Abstract (English)
Cloud robotics has emerged as a promising technology for robotics applications due to its advantages of offloading computationally intensive tasks, facilitating data sharing, and enhancing robot coordination. However, integrating cloud computing with robotics remains a complex challenge due to network latency, security concerns, and the need for efficient resource management. In this work, we present a scalable and intuitive framework for testing cloud and edge robotic systems. The framework consists of two main components enabled by containerized technology: (a) a containerized cloud cluster and (b) the containerized robot simulation environment. The system incorporates two endpoints of a User Datagram Protocol (UDP) tunnel, enabling bidirectional communication between the cloud cluster container and the robot simulation environment, while simulating realistic network conditions. To achieve this, we consider the use case of cloud-assisted remote control for aerial robots, while utilizing Linux-based traffic control to introduce artificial delay and jitter, replicating variable network conditions encountered in practical cloud-robot deployments.
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