Abstract
In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy.
Highlights
A distributed networked control system (NCS) is composed of numerous subsystems called agents, which are geographically distributed
The results show that the event-based solution has a higher efficiency in communication resource utilization than the discrete-time one
The proposed event-based control strategy can be implemented in mobile robot architectures in a simple way
Summary
A distributed networked control system (NCS) is composed of numerous subsystems (fixed or mobile) called agents, which are geographically distributed. An important result of this kind of reduction is that the network can guarantee a predictable bandwidth to a control loop, and it simplifies the analysis of network delay, which affects the control loop [2] For these reasons, an important issue in the implementation of these systems is to define methods that use the limited network resources available for transmitting the state and control information more effectively. An important issue in the implementation of these systems is to define methods that use the limited network resources available for transmitting the state and control information more effectively To deal with this problem, the timing issue in NCS has been investigated by some researches [3].
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