Co-design for wireless networked control of an intelligent mobile robot

Amine Mechraoui (1) , Zeashan Hameed Khan (1) , Jean-Marc Thiriet (1) , Sylviane Gentil (1)

1 GIPSA-SA-IGA - GIPSA - Signal et Automatique pour le Diagnostic et la Surveillance

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.

Keywords: 802.15.4 protocol; Wireless network; TrueTime simulation; Horizontal handoff; Networked control systems; Autonomous mobile robots

Domains: Automatic Control Engineering

Amine Mechraoui, Zeashan Hameed Khan, Jean-Marc Thiriet, Sylviane Gentil. Co-design for wireless networked control of an intelligent mobile robot. ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Jul 2009, Milan, Italy. pp.7. ⟨hal-00396510⟩