Discrete-time synchronization strategy for input time-delay mobile robots

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...

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Bibliographic Details
Published inJournal of the Franklin Institute Vol. 350; no. 10; pp. 2911 - 2935
Main Authors Velasco-Villa, M., Castro-Linares, R., Rosales-Hernández, F., del Muro-Cuéllar, B., Hernández-Pérez, M.A.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.12.2013
Subjects
Feedback
Laws
Mathematical models
Position (location)
Robots
Strategy
Synchronism
Synchronization
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Summary: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.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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content type line 23
ISSN:0016-0032
1879-2693
DOI:10.1016/j.jfranklin.2013.05.029