A Mobile Robots Experimental Environment with Event-Based Wireless Communication

被引：27

作者：

Guinaldo, Maria ^{[1
]}

Fabregas, Ernesto ^{[1
]}

Farias, Gonzalo ^{[2
]}

Dormido-Canto, Sebastian ^{[1
]}

Chaos, Dictino ^{[1
]}

Sanchez, Jose ^{[1
]}

Dormido, Sebastian ^{[1
]}

机构：

[1] UNED, Dept Comp Sci & Automat Control, Madrid 28040, Spain

[2] Pontificia Univ Catolica Valparaiso, Sch Elect Engn, Valparaiso, Chile

来源：

SENSORS | 2013年 / 13卷 / 07期

关键词：

distributed control systems; mobile robots; multi-agent systems; wireless communications; embedded systems; TRIGGERED CONTROL; CONSENSUS;

D O I：

10.3390/s130709396

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed control algorithm based on event-triggered communications has been designed and implemented to bring the robots into the desired formation. Each robot communicates to its neighbors only at event times. Furthermore, a simulation tool has been developed to design and perform experiments with the system. An example of usage is presented.

引用

页码：9396 / 9413

页数：18

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