Relationship between Quality of Control and Quality of Service in Mobile Robot Navigation

机译：移动机器人导航中控制质量与服务质量之间的关系

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This article presents the experimental work developed to test the viability and to measure the efficiency of an intelligent control distributed architecture. To do this, a simulated navigation scenario of Braitenberg vehicles has been developed. To test the efficiency, the architecture uses the performance as QoS parameter. The measuring of the quality of the navigation is done through the ITAE QoC parameter. Tested scenarios are: an environment without QoS and QoC managing, an environment with a relevant message filtering and an environment with a predictive filtering by the type of control. The results obtained show that some of the processing performed in the control nodes can be moved to the middleware to optimize the robot navigation.

机译：本文介绍了开发的实验工作，以测试可行性和衡量智能控制分布式体系结构的效率。为此，已经开发了Braitenberg车辆的模拟导航方案。为了测试效率，该体系结构使用性能作为QoS参数。导航质量的测量是通过ITAE QoC参数完成的。经过测试的场景包括：没有QoS和QoC管理的环境，具有相关消息过滤的环境以及具有根据控件类型进行预测性过滤的环境。获得的结果表明，可以将控制节点中执行的某些处理移至中间件以优化机器人导航。

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来源
《Distributed computing and artificial intelligence.》|2012年|p.557-564|共8页
会议地点 Salamanca(ES);Salamanca(ES)
作者
Jose-Luis Poza-Lujan; Juan-Luis Posadas-Yaguee; Jose-Enrique Simo-Ten;
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作者单位

University Institute of Control Systems and Industrial Computing (ai2). Universitat Politecnica de Valencia (UPV). Camino de vera, s. 46022 Valencia (Spain);

University Institute of Control Systems and Industrial Computing (ai2). Universitat Politecnica de Valencia (UPV). Camino de vera, s. 46022 Valencia (Spain);

University Institute of Control Systems and Industrial Computing (ai2). Universitat Politecnica de Valencia (UPV). Camino de vera, s. 46022 Valencia (Spain);

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原文格式 PDF
正文语种 eng
中图分类人工智能理论;人工智能理论;
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Relationship between Quality of Control and Quality of Service in Mobile Robot Navigation

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