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
收藏
页码：9396 / 9413
页数：18
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