Paper Info
Title
Adaptive self-triggered control of a remotely operated P3-DX robot: Simulation and experimentation.
Abstract
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.
Year
DOI
Venue
2014
10.1016/j.robot.2014.01.010
Robotics and Autonomous Systems
Keywords
Field
DocType
Self-triggered control,Adaptive control,Remote control,P3-DX robot
Robot control,Wireless,Remote control,Computer science,Simulation,Adaptive control,Robot,Autonomous robot,Mobile robot,Tracking error
Journal
Volume
Issue
ISSN
62
6
0921-8890
Citations 
PageRank 
References 
6
0.46
14
Authors
3
Name
Order
Citations
PageRank
Carlos Santos1496.58
Manuel Mazo Jr267349.71
Felipe Espinosa311818.41