...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Robotics and Autonomous Systems >Adaptive self-triggered control of a remotely operated P3-DX robot: Simulation and experimentation
【24h】

Adaptive self-triggered control of a remotely operated P3-DX robot: Simulation and experimentation

机译：遥控P3-DX机器人的自适应自触发控制：仿真和实验

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In this paper the problem of remotely operating an autonomous robot through a wireless communication channel is considered. The main goal is to achieve a satisfactory tracking performance while reducing network usage. To attain this objective, a self-triggered strategy that adjusts the triggering condition to the observed tracking error is implemented. After the theoretical justification, simulation results of a P3-DX mobile robot remotely controlled using TrueTime are presented. Also, the same adaptive self-triggered approach has been tested on a real robot. The experiments reinforce the relevant reduction on the generated network traffic compared to a periodic implementation and to a non-adaptive self-triggered approach, while the tracking performance is barely degraded.
机译：本文考虑了通过无线通信通道远程操作自主机器人的问题。主要目标是在降低网络使用率的同时获得令人满意的跟踪性能。为了实现此目标，实施了一种将触发条件调整为观察到的跟踪误差的自触发策略。经过理论上的论证，给出了使用TrueTime远程控制的P3-DX移动机器人的仿真结果。同样，相同的自适应自触发方法已经在真实的机器人上进行了测试。与定期实施和非自适应自触发方法相比，实验增强了对生成的网络流量的相关减少，而跟踪性能几乎没有下降。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号