Fraisse, Philippe (LIRMM, Univ. Montpellier II)

Towards Networked Control of Robots by using Wi-Fi Technology

Scheduled for presentation during the Mini-Symposium "Control Over Networks" (ThA08), Thursday, July 27, 2006, 12:05−12:30, Room I

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on May 19, 2024

Abstract

This work studies and proposes remote control architecture for a set of nonholonomic robotic vehicles. We used a new decentralized control strategy such strategy permits each vehicle to independently compute its trajectory based on the Leader-Follower principle, both the leader and the follower GPS information, and the signal level of the wireless communication reception. We incorporate a reactive term in the path planning process based on the Deformable Virtual Zones (DVZ) that modifies the path of each robot for a given ultrasound sensor information of each robot in order to get away from obstacles.