TY - JOUR
T1 - Discrete-time synchronization strategy for input time-delay mobile robots
AU - Velasco-Villa, M.
AU - Castro-Linares, R.
AU - Rosales-Hernández, F.
AU - Del Muro-Cuéllar, B.
AU - Hernández-Pérez, M. A.
PY - 2013/12
Y1 - 2013/12
N2 - This paper considers a synchronization strategy for a group of differentially driven mobile robots subject to input time-delayed control signals. The continuous time model of the vehicles is exactly discretized in order to obtain a larger dimension representation free of delays. The control strategy is based on the concept of synchronization, under two main assumptions: a specific formation for the group of robots and the tracking of a particular desired trajectory. The control strategy proposed in this work allows the consideration of causal feedback laws avoiding the use of an additional prediction strategy that counteracts the undesired input time-delay effects. The performance of the synchronization strategy is evaluated by real-time experiments with the help of a group of three mobile robots and an indoor absolute localization system based on artificial vision.
AB - This paper considers a synchronization strategy for a group of differentially driven mobile robots subject to input time-delayed control signals. The continuous time model of the vehicles is exactly discretized in order to obtain a larger dimension representation free of delays. The control strategy is based on the concept of synchronization, under two main assumptions: a specific formation for the group of robots and the tracking of a particular desired trajectory. The control strategy proposed in this work allows the consideration of causal feedback laws avoiding the use of an additional prediction strategy that counteracts the undesired input time-delay effects. The performance of the synchronization strategy is evaluated by real-time experiments with the help of a group of three mobile robots and an indoor absolute localization system based on artificial vision.
UR - http://www.scopus.com/inward/record.url?scp=84887322092&partnerID=8YFLogxK
U2 - 10.1016/j.jfranklin.2013.05.029
DO - 10.1016/j.jfranklin.2013.05.029
M3 - Artículo
SN - 0016-0032
VL - 350
SP - 2911
EP - 2935
JO - Journal of the Franklin Institute
JF - Journal of the Franklin Institute
IS - 10
ER -