کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10327024 | 680489 | 2014 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Adaptive self-triggered control of a remotely operated P3-DX robot: Simulation and experimentation
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In this paper the problem of remotely operating an autonomous robot through a wireless communication channel is considered. The main goal is to achieve a satisfactory tracking performance while reducing network usage. To attain this objective, a self-triggered strategy that adjusts the triggering condition to the observed tracking error is implemented. After the theoretical justification, simulation results of a P3-DX mobile robot remotely controlled using TrueTime are presented. Also, the same adaptive self-triggered approach has been tested on a real robot. The experiments reinforce the relevant reduction on the generated network traffic compared to a periodic implementation and to a non-adaptive self-triggered approach, while the tracking performance is barely degraded.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 62, Issue 6, June 2014, Pages 847-854
Journal: Robotics and Autonomous Systems - Volume 62, Issue 6, June 2014, Pages 847-854
نویسندگان
Carlos Santos, Manuel Jr., Felipe Espinosa,