Event-based sensing and control for remote robot Guidance: an experimental case
Authors
Santos Pérez, Carlos; Martínez Rey, Miguel; Espinosa Zapata, Felipe; Gardel Vicente, Alfredo; Santiso Gómez, EnriqueIdentifiers
Permanent link (URI): http://hdl.handle.net/10017/60076DOI: 10.3390/s17092034
ISSN: 1424-8220
Publisher
MDPI
Date
2017-09-06Funders
Ministerio de Economía y Competitividad
Bibliographic citation
Santos, C.; Martínez-Rey, M.; Espinosa, F.; Gardel, A.; Santiso, E. Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case. Sensors 2017, 17, 2034
Project
info:eu-repo/grantAgreement/MINECO//DPI2013-47347-C2-1-R/ES/OPTIMIZACION DE RED DE SENSORES INALAMBRICOS Y SISTEMAS DE CONTROL EN RED PARA COOPERACION DE UNIDADES MOVILES EN ENTORNOS INTELIGENTES/
Document type
info:eu-repo/semantics/article
Version
info:eu-repo/semantics/publishedVersion
Publisher's version
https://doi.org/10.3390/s17092034Rights
Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
© 2017 The authors
Access rights
info:eu-repo/semantics/openAccess
Abstract
This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby event-based techniques for both control and state estimation contribute to efficient use of communications and reduce sensor activity. Measurement requests are dictated by an event-based state estimator by setting an upper bound to the estimation error covariance matrix. The rest of the time, state prediction is carried out with the Unscented transformation. This prediction method makes it possible to select the appropriate instants at which to perform actuations on the robot so that guidance performance does not degrade below a certain threshold. Ultimately, we obtained a combined event-based control and estimation solution that drastically reduces communication accesses. The magnitude of this reduction is set according to the tracking error margin of a P3-DX robot following a nonlinear trajectory, remotely controlled with a mini PC and whose pose is detected by a camera sensor.
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