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Sensors 2015, 15(12), 30076-30092; doi:10.3390/s151229796

Event-Based Control Strategy for Mobile Robots in Wireless Environments

Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia, Juan del Rosal 16, Madrid 28040, Spain
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Author to whom correspondence should be addressed.
Academic Editor: Gonzalo Pajares Martinsanz
Received: 26 October 2015 / Revised: 24 November 2015 / Accepted: 27 November 2015 / Published: 2 December 2015
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2015)
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Abstract

In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy. View Full-Text
Keywords: event-based control; navigation algorithms; mobile robots; wireless communication event-based control; navigation algorithms; mobile robots; wireless communication
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Socas, R.; Dormido, S.; Dormido, R.; Fabregas, E. Event-Based Control Strategy for Mobile Robots in Wireless Environments. Sensors 2015, 15, 30076-30092.

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