Analysis of Communication Delay and Packet Loss During Localization Among Mobile Robots
Wheeled mobile robots moving in an unknown environment are made to face many obstacles while navigating in a planned or unplanned trajectory to reach their destination. But, no information is available regarding the failure of a leader robot of a group in both unknown and uncertain environments and the subsequent course of action by the follower robots. As the leader fails, one of the follower robots within the group can be assigned as a new leader so as to accomplish the planned trajectory. The present experimental work is carried out by a team of robot comprises of a leader robot and three follower robots and if the present leader fails, a new leader is selected from the group using leader follower approach. But, the problem of localization among multi mobile robots is subjected to communication delay and packet loss. The problem of data loss is analyzed and shows that it can be modeled as a feedback system with dual mode observers. An algorithm has been developed to compensate this packet loss during communication between controller and server in a wifi-based robotics environment. Further, the simulation results prove that the algorithm developed is efficient compared to single mode observers, for both unknown and uncertain environments among multi robots.
KeywordsMulti robots Leader follower approach Packet loss Localization Wheeled mobile robots
Unable to display preview. Download preview PDF.
- 2.Madhevan B., Sreekumar M.: A systematic implementation of role assignment in multi robots using leader follower approach: analytical and experimental evaluation. In: 13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014), pp. 1792–1798 (2014)Google Scholar
- 6.Niemeyer, G., Preusche, C., Hirzinger, G.: Springer, Handbook of Robotics, chapter 31: Telerobotics, pp. 741–758. Springer-Verlag (2008)Google Scholar
- 7.Oguchi, T., Nijmeijer, H.: Prediction of chaotic behavior. IEEE Trans. on Circ. and Syst. I. 52(11), 2464–2472 (2005b). doi: 10.1109/TCSI.2005.853396
- 10.Van den Broek, T.: Formation Control of Unicycle Mobile Robots: Theory and Experiments. (Masters thesis, 2008) Eindhoven University of Technology (2008)Google Scholar
- 14.Liu, Y., Yuen, C., Cao, X., Hassan, N.Ul., Chen, J.: Design of a Scalable Hybrid MAC Protocol for Heterogeneous M2M Networks, IEEE Internet of Things Journal, 99-111, February 2014. doi: 10.1109/JIOT.2014.2310425