Mobile Robot Control Weighting for Communication Delay Stability

The patent implements dynamic mode switching between autonomous and manual control modes based on real-time communication delay detection. When delay exceeds threshold, the system transitions from autonomous to manual mode, and vice versa. This dynamic adaptation resolves the contradiction by making the control mode flexible rather than fixed, improving safety through timely mode changes while maintaining operation stability through smooth transitions and continuous control value generation during mode switching.

The system changes the control parameter from autonomous-generated values to operator-input values based on communication delay conditions. By monitoring delay parameters and adjusting control authority accordingly, the system resolves the contradiction between safety (requiring autonomous mode) and operation stability (requiring consistent control mode). The parameter change approach allows the system to adapt control strategy to current communication conditions while maintaining continuous and stable robot operation.

The patent dynamically adjusts control authority between operator and autonomous system based on communication delay. When delay is acceptable, full remote control authority is maintained. When delay exceeds threshold, control authority dynamically shifts to autonomous mode, reducing response time while preserving user authority in normal conditions. This resolves the contradiction by making control authority adaptive rather than static.

The autonomous driving module acts as an intermediary between the operator and mobile robot when communication delay occurs. Instead of direct operator-to-robot control, the autonomous module mediates by generating control commands locally, reducing response time while the operator retains supervisory authority. This intermediary approach resolves the time delay issue while maintaining user control authority through hierarchical control structure.