A Mobile Robots Experimental Environment with Event-Based Wireless Communication

Sensors

Mar໚ Guinaldo¹  Ernesto Fปregas¹  Gonzalo Farias²  Sebastián Dormido-Canto¹  Dictino Chaos¹  José Sánchez¹ 

[1] Department of Computer Science and Automatic Control, UNED, Juan del Rosal 16, Madrid 28040, Spain; E-Mails:;School of Electrical Engineering, Pontificia Universidad Católica de Valparaiso, Av. Brasil 2147, Valparaiso, Chile; E-Mail:

关键词: distributed control systems;    mobile robots;    multi-agent systems;    wireless communications;    embedded systems;   

DOI  :  10.3390/s130709396

来源: mdpi

【 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.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.