Advertisement

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

  • José-Luis Poza-LujánEmail author
  • Juan-Luis Posadas-Yagüe
  • José-Enrique Simó-Ten
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 151)

Abstract

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.

Keywords

Robot Navigation Control Node Mobile Robot Navigation Message Rate Useful Message 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Vogel, A., Kerherve, B., von Bochmann, G., Gecsei, J.: Distributed Multimedia and QoS: A Survey. IEEE Multimedia 2(2), 10–19 (1995)CrossRefGoogle Scholar
  2. 2.
    Crawley, E., Nair, R., Rajagopalan, B.: RFC 2386: A Framework for QoS-based Routing in the Internet. IETF Internet Draft, 1–37 (1998)Google Scholar
  3. 3.
    Bradner, S.: RFC 2026: The Internet Standards Process. IETF Internet Draft, sec.10 (1996)Google Scholar
  4. 4.
    Object Management Group (OMG): Data Distribution Service for Real-Time Systems, v1.1. Document formal (April 12, 2005)Google Scholar
  5. 5.
    Poza, J.L., Posadas, J.L., Simó, J.E.: QoS-based middleware architecture for distributed control systems. In: International Symposium on Distributed Computing and Artificial Intelligence. DCAI, Salamanca, Spain (2008)Google Scholar
  6. 6.
    Poza, J.L., Posadas, J.L., Simó, J.E.: A Survey on Quality of Service Support on Middleware-Based Distributed Messaging Systems Used in Multi Agent Systems. In: 9th International Conference on Practical Applications of Agents and Multi-Agent Systems. DCAI, Salamanca, Spain (2011)Google Scholar
  7. 7.
    Dorf, R.C., Bishop, R.H.: Modern Control Systems, 11th edn. Prentice Hall (2008)Google Scholar
  8. 8.
    Soucek, S., Sauter, T.: Quality of Service Concerns in IPBased Control Systems. IEEE Transactions on Industrial Electronics 51(6) (December 2004)Google Scholar
  9. 9.
    Poza, J.L., Posadas, J.L., Simó, J.E.: Multi-Agent Architecture with Support to Quality of Service and Quality of Control. In: 11th International Conference on Intelligent Data Engineering and Automated Learning, Paisley, UK (2010)Google Scholar
  10. 10.
    Braitenberg, V.: Vehicles: Experiments on Synthetic Psychology. MIT Press, Cambridge (1984)Google Scholar
  11. 11.
    Gabel, O., Litz, L.: QoS-adaptive Control in NCS with Variable Delays and Packet Losses – A Heuristic Approach. In: 43rd IEEE Conference on Decision and Control (2004)Google Scholar
  12. 12.
    Poza, J.L., Posadas, J.L., Simó, J.E.: From the Queue to the Quality of Service Policy: A Middleware Implementation. In: Omatu, S., Rocha, M.P., Bravo, J., Fernández, F., Corchado, E., Bustillo, A., Corchado, J.M. (eds.) IWANN 2009, Part II. LNCS, vol. 5518, pp. 432–437. Springer, Heidelberg (2009)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • José-Luis Poza-Luján
    • 1
    Email author
  • Juan-Luis Posadas-Yagüe
    • 1
  • José-Enrique Simó-Ten
    • 1
  1. 1.University Institute of Control Systems and Industrial Computing (ai2)Universitat Politècnica de València (UPV)ValenciaSpain

Personalised recommendations