Muestreo y comunicaciónimpacto en el control de formaciones en sistemas multi-robot heterogéneos

  1. Mañas-Álvarez, Francisco-José 1
  2. Guinaldo, María 1
  3. Dormido, Raquel 1
  4. Dormido, Sebastián 1
  1. 1 Universidad Nacional de Educación a Distancia
    info

    Universidad Nacional de Educación a Distancia

    Madrid, España

    ROR https://ror.org/02msb5n36

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Año de publicación: 2024

Volumen: 21

Número: 2

Páginas: 125-136

Tipo: Artículo

DOI: 10.4995/RIAI.2023.20155 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )

Resumen

Este trabajo presenta el análisis del efecto de la frecuencia de muestreo y comunicación en un sistema multi-robot (SMR) en su desempeño temporal y en la carga computacional. El sistema experimental está compuesto por robots móviles del tipo Khepera IV y robots aéreos del tipo Crazyflie 2.1. El análisis se realiza sobre el movimiento del SMR desde unas condiciones iniciales hasta una formación deseada, que se define en base a un conjunto de distancias relativas deseadas entre agentes. Se evalúan tres escenarios en relación a la arquitectura del nivel de control: centralizado, distribuido en ROS 2 y distribuido a bordo del robot. Se determina la frecuencia mínima operativa para un muestreo periódico, y se presenta un protocolo de muestreo basado en eventos como propuesta para la reducción de transmisiones de mensajes. Para este caso, se determina un umbral constante óptimo, con un desempeño temporal equivalente al muestreo periódico óptimo, pero con una reducción del muestreo de un 80%.

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Fuente de los datos: Dialnet