Bandwidth Control Based on Wireless LAN for Applications in Multi-robot Cooperative System
Date Issued
2005
Date
2005
Author(s)
Yu, Ming-Yi
DOI
en-US
Abstract
In multi-robot systems, mobile robots may be separated into several cooperative sub-groups. The smoothness and reliability of task execution in respective sub-groups rely on the quality of communication. Too large transmission latency may cause the failure of successful execution of given tasks or lower effectiveness in cooperation than being expected. This thesis mainly focuses on building a network bandwidth control scheme (NBCS) based on the existing Wireless LAN systems. This NBCS can dynamically allocate the valuable network bandwidth to cooperative sub-groups according to the overall assigned tasks. With the feed back packets interval, the NBCS forms a typical control system and fuzzy control theory is adapted in the network controller.
In the NBCS, data transmission in each robot is managed by a Network Controller. The bandwidth for each robot will be reallocated by the Network Controller in accordance to its assigned tasks’ priority or the demands of the cooperative sub-groups. The packet schedulers in each robot will arrange the transmitting order for each data flow with the crucial property, “periodicity”. In the simulation, the multiple inverted pendulum system can be controlled well by the NBCS. Through experiments, the effectiveness of this scheme can be verified under Wireless LAN framework.
Subjects
無線網路
多群組機器人
頻寬分配
封包排程
Wireless LAN
Multi-robot System
Bandwidth Allocation
Packet Scheduler
Type
thesis