We describe methods for evaluating the performance of the wireless link used for control and telemetry for urban search and recue robots. These methods are based on identification and evaluation of performance metrics that describe impairments to the wireless link. The type and level of each impairment are derived from measurement data in a given environment, here a subterranean tunnel. We illustrate how parameters are extracted from the measurement data to determine specific values for the performance metrics and discuss how these values can be used to assess, verify, or predict robot performance. Our data collection methods include both single-frequency and wideband channel-characterization tests, as well as tests of telemetry and control of a robot in the tunnel environment. Using measured data, we demonstrate methods to verify propagation models of both single-frequency path loss and channel capacity. Once such models have been verified, they can be used for predictive evaluation of robot performance in other environments, such as in tunnels of various sizes, materials, and surface roughness.
Citation: Performance Evaluation and Benchmarking of Intelligent Systems
Publisher Info: Springer Publishing Company, New York, NY
Pub Type: Book Chapters
Multipath, radiowave propagation, RMS delay spread, robot, urban search and rescue, wireless communication, wireless system