Muestreo y comunicación: impacto en el control de formaciones en sistemas multi-robot heterogéneos
Enviado: 02-08-2023
|Aceptado: 13-10-2023
|Publicado: 16-10-2023
Derechos de autor 2023 Francisco José, María Guinaldo, Raquel Dormido, Sebastián Dormido
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
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Palabras clave:
Sistema Multi-Robot, Control de Formación, Control basado en eventos
Agencias de apoyo:
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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