CO-DESIGN FOR WIRELESS NETWORKED CONTROL OF AN INTELLIGENT MOBILE ROBOT

Amine Mechraoui, Zeashan Hameed Khan, Jean-Marc Thiriet, Sylviane Gentil

Abstract

This paper describes a wireless network based control of a Khepera mobile robot moving in a distributed infrastructure. Due to critical dependence on wireless communication, a procedure for reconfiguration of the network is proposed as a possibility to maintain communication between control station and the mobile robot in a successful manner. The network handoff is made under a criterion that takes into account key application dependent performance parameters. The controlled system and the communication network are simulated respectively with Matlab/Simulink and TrueTime.

References

  1. Aicardi, M., Casalino, G., Bicchi, A., and Balestrino, A. (1995). Closed loop steering of unicycle like vehicles via Lyapunov techniques. In IEEE Robotics and Automation Magazine, volume 2(1), pages 27-35.
  2. Angermann, M. and Kammann, J. (2002). Cost metrics for decision problems in wireless ad-hoc networking. In IEEE CAS Workshop on Wireless Communications and Networking, Pasadena, California, USA.
  3. Benzerrouk, A., Adouane, L., Martinet, P., and Andreff, N. (2008). Toward an hybrid control architecture for a mobile multi-robot systems. In Proceeding of the 3rd National Conference on Control Architectures of Robots, Bourges, France.
  4. canudas de Wit, C. and Sordalen, O. (1992). Exponential stabilization of mobile robots with non-holonomic constraints. In IEEE Trans. Automatic Control, volume 37, pages 1792-1797.
  5. Chen, L.-J., Sun, T., Chen, B., Rajendran, V., and Gerla, M. (2004). A smart decision model for vertical handoff. In Proceedings of the 4th International Workshop on Wireless Internet and Reconfigurability, Athens, Greece.
  6. Fierro, R. and Lewis, F. (1996). Practical point stabilization of a nonholonomic mobile robot using neural networks. In Proceeding Conference on Decision and Control, Kobel, Japan.
  7. Hespanha, J., Naghshtabrizi, P., and Xu, Y. (2007). A survey of recent results in networked control systems. In Proceeding of IEEE special issue on Technology of Networked Control Systems, volume 95, pages 138- 162.
  8. Kurose, J. and Ross, K. W. (2004). Computer Networking: A Top-Down Approach Featuring the internet. Addison Wesley, 3rd edition.
  9. Lambercy, F. and Caprari, G. (2007). Khepera3 user manual version 2:2. Technical report.
  10. Martinez, S., Corts, J., and Bullo, F. (2007). Motion coordination with distributed information. In IEEE Control Systems Magazine, volume 27(4), pages 75-88.
  11. Mechraoui, A., Thiriet, J.-M., and Gentil, S. (2008). Control of an intelligent robot system over a wireless network. In Proceeding of the 23rd IAR Workshop on Advanced Control and Diagnosis, Coventry, United Kingdom.
  12. Nkansa-Gyekye, Y. and Agbinya, J. (2007). Vertical handoff decision algorithm for umts-wlan. In Proceeding of the 2nd International Conference on Wireless Broadband and Ultra Wideband Communications, Sydney, Australia.
  13. Schwager, M., Slotine, J., and Rus, D. (2007). Decentralized, adaptive control for coverage with networked robots. In Proceeding of IEEE International Conference on Robotics and Automation, Roma, Italy.
  14. Stevens-Navarro, E. and Wong, V. (2006). Comparison between vertical handoff decision algorithms for heterogeneous wireless networks. In Proceeding of the 63rd IEEE Vehicular Technology Conference, volume 2, pages 947-951.
  15. Toibero, J. M., Carelli, R., and Kuchen, B. (2007). Switching control of mobile robots for autonomous navigation in unknown environments. In Proceeding of IEEE International Conference on Robotics and Automation, Roma, Italy.
  16. van den Bossche, A., Val, T., and Campo, E. (2007). Prototyping and performance analysis of a qos mac layer for industrial wireless network. In Proceeding of the 7th IFAC International Conference on Fieldbuses and Networks in Industrial and Embedded Systems, Toulouse, France.
  17. Wang, H., Katz, R., and Giese, J. (1999). Policy-enabled handoffs across heterogeneous wireless networks. In Proceeding of the 2nd IEEE Workshop on Mobile Computing Systems and Applications, New Orleans, Louisiana, USA.
  18. Wang, L., Chen, A., and Chen, H. (2007). Network selection with joint vertical and horizontal handoff in heterogeneous wlan and mobile wimax systems. In Proceedings of the 63rd IEEE Vehicular Technology Conference, Melbourne, Australia.
  19. Zhu, H., Yang, Q., and Kwak, K. (2005). Performance analysis of fast handoff with mobility prediction. In Proceeding of IEEE International Symposium on Communications and Information Technology, Beijing, China.
Download


Paper Citation


in Harvard Style

Mechraoui A., Hameed Khan Z., Thiriet J. and Gentil S. (2009). CO-DESIGN FOR WIRELESS NETWORKED CONTROL OF AN INTELLIGENT MOBILE ROBOT . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 318-324. DOI: 10.5220/0002219303180324


in Bibtex Style

@conference{icinco09,
author={Amine Mechraoui and Zeashan Hameed Khan and Jean-Marc Thiriet and Sylviane Gentil},
title={CO-DESIGN FOR WIRELESS NETWORKED CONTROL OF AN INTELLIGENT MOBILE ROBOT},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={318-324},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002219303180324},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - CO-DESIGN FOR WIRELESS NETWORKED CONTROL OF AN INTELLIGENT MOBILE ROBOT
SN - 978-989-674-000-9
AU - Mechraoui A.
AU - Hameed Khan Z.
AU - Thiriet J.
AU - Gentil S.
PY - 2009
SP - 318
EP - 324
DO - 10.5220/0002219303180324