Design of a Wireless Communication System for Barelang V Mobile Robot Control

Abstract

This study evaluates the performance of WiFi-based wireless communication in a mobile robot control system consisting of an ESP32 as the data transmitter, a mini-PC as the data receiver and recorder, and a Teensy 4.1 as the motor controller. The analysis was conducted by testing the data transmission interval, WiFi sleep mode, and transmission power to obtain the optimal communication configuration. The parameters evaluated included latency, jitter, latency standard deviation, and packet loss rate. The selected configuration was tested at distances of 5 meters, 10 meters, and 15 meters. The test results showed that the system maintained stable communication with average latency of 9.7-12.9 ms and zero packet loss up to 15 meters. All measured latencies were well within the acceptable range (<150 ms) according to TIPHON standards, making the system suitable for real-time mobile robot control applications.