The goal of this paper is to serve as a reference for researchers in robotics and control that are interested in realistic modeling, theoretical analysis and simulation of wireless links. To realize the full potentials of networked robotic systems, an integration of communication issues with motion planning/control is necessary. While considerable progress has been made in the area of networked robotic systems, communication channels are typically considered ideal or ideal within a certain radius of the transmitter, both considerable oversimplifications of wireless channels. It is the goal of this paper to provide a comprehensive overview of the key characteristics of wireless channels, as relevant to networked robotic operations. In particular, we provide a probabilistic framework for characterization of the underlying multi-scale dynamics of a wireless link: small-scale fading, large-scale fading and path loss. We furthermore confirm these mathematical models with channel measurements made in our building. We also discuss channel characterization based on the knowledge available on the geometry and dielectric properties of the environment. I. MOTIVATIONThe unprecedented growth of sensing, communication and computation in the past few years has the potential of fundamentally changing the way we understand and process information. The sensor network revolution has created the possibility of exploring and controlling the environment in ways not possible before. The vision of a multi-agent robotic network cooperatively learning and adapting in harsh unknown environments to achieve a common goal is closer than ever. In order to realize this vision, however, an integrative approach to communication and control issues is essential.In the robotics and control community, considerable progress has been made in the area of networked robotic and control systems. Similarly, in the communications systems community, rich literature was developed, over the past decades, for the characterization and modeling of wireless channels. However, the knowledge available on wireless link characterization has rarely been used in networked robotic/control literature, i.e. ideal or over-simplified models have mainly been used so far. It is therefore the goal of this paper to provide a reference for the characterization and modeling of wireless channels for networked robotic operations.In a realistic communication setting, such as an urban area or indoor environment, Line-Of-Sight (LOS) communication may not be possible due to the existence of several objects This work was supported in part by ARO CTA MAST grant # W911NF-08-2-0004 and in part by NSF award # 0812338. that can attenuate, reflect, diffract or block the transmitted signal. The received signal power typically experiences considerable variations and can change drastically in even a small distance. As an example, consider Fig. 1, where channel measurements in the Electrical and Computer Engineering (ECE) building at UNM are shown. It can be seen that channel can change drastically...
A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented. The system model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments are carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal trajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we validate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency of our proposed identification algorithm and the accuracy of the identified robot model.
The purpose of this paper is devoted to developing a chaotic artificial bee colony algorithm (CABC) for the system identification of a small-scale unmanned helicopter state-space model in hover condition. In order to avoid the premature of traditional artificial bee colony algorithm (ABC), which is stuck in local optimum and can not reach the global optimum, a novel chaotic operator with the characteristics of ergodicity and irregularity was introduced to enhance its performance. With input-output data collected from actual flight experiments, the identification results showed the superiority of CABC over the ABC and the genetic algorithm (GA). Simulations are presented to demonstrate the effectiveness of our proposed algorithm and the accuracy of the identified helicopter model.
A robust flight controller based on linear active disturbance rejection control (LADRC) is proposed for stability control of an aerial robot quadrotor under wind gusts. The nonlinear dynamical model of the quadrotor, considering the wind disturbance, is firstly established through Newton-Euler method. Subsequently, a robust LADRC technique is proposed to design the controllers for the inner loop and outer loop of the aircraft. In this control scheme, the linear extended state observer (LESO) serves as a compensator which can effectively reject the wind gusts. Then, a method of parameter tuning is introduced to obtain the optimized control performance. Finally, the effectiveness and advantages of the proposed controller are demonstrated through series of simulation case.
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