Authors:
Amine Mechraoui
;
Zeashan Hameed Khan
;
Jean-Marc Thiriet
and
Sylviane Gentil
Affiliation:
Gipsa-Lab, Control departement INPG-UJF-CNRS, France
Keyword(s):
Autonomous mobile robots, Networked control systems, Wireless network, 802.15.4 protocol, Horizontal handoff, TrueTime simulation.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Network Robotics
;
Real-Time Systems Control
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.