title: Event-Based Control Strategy for Mobile Robots in Wireless Environments.
abstract: In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy.
authors.affiliation: Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia, Juan del Rosal 16, Madrid 28040, Spain. rsocas@telefonica.net.
authors.forename: Rafael
authors.initials: R
authors.lastname: Socas
authors.affiliation: Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia, Juan del Rosal 16, Madrid 28040, Spain. sdormido@dia.uned.es.
authors.forename: Sebastián
authors.initials: S
authors.lastname: Dormido
authors.affiliation: Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia, Juan del Rosal 16, Madrid 28040, Spain. raquel@dia.uned.es.
authors.forename: Raquel
authors.initials: R
authors.lastname: Dormido
authors.affiliation: Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia, Juan del Rosal 16, Madrid 28040, Spain. efabregas@bec.uned.es.
authors.forename: Ernesto
authors.initials: E
authors.lastname: Fabregas
keywords: event-based control; mobile robots; navigation algorithms; wireless communication