Control of an intelligent robot system over a wireless network

Autor: Amine Mechraoui, Jean-Marc THIRIET, Sylviane Gentil
Přispěvatelé: Mechraoui, Amine, GIPSA - Signal et Automatique pour le Diagnostic et la Surveillance (GIPSA-SA-IGA), Département Images et Signal (GIPSA-DIS), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Département Automatique (GIPSA-DA), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
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Zdroj: HAL
IAR 2008-23rd IAR Workshop on Advanced Control and Diagnosis
IAR 2008-23rd IAR Workshop on Advanced Control and Diagnosis, Nov 2008, Coventry, United Kingdom. pp.201
Popis: International audience; This paper emphasizes the control-communication co-design problem of a mobile robot with varying network load. A Khepera mobile robot driven by two dc motor-powered wheels is used as an example. Each motor is controlled directly by a PI controller whereas other types of controllers are used for the control of linear and angular velocities of the robot. A Zigbee network is implemented between the controller and the plant and between the sensors and the controller. Difficulties due to wireless network such as delays and packet dropout are studied. The controlled system and the communication network are simulated respectively with Matlab/Simulink and TrueTime.
Databáze: OpenAIRE
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