Impacto del Jitter en un control de formación multiagente

  1. Anzola Anzola, John Petearson 1
  2. Simanca Herrera, Fredys Alberto 2
  3. García-Díaz, Vicente 3
  1. 1 Fundación Universitaria Los Libertadores
    info

    Fundación Universitaria Los Libertadores

    Bogotá, Colombia

    ROR https://ror.org/05pm0vd24

  2. 2 Universidad Cooperativa de Colombia
    info

    Universidad Cooperativa de Colombia

    Bogotá, Colombia

    ROR https://ror.org/04td15k45

  3. 3 Universidad de Oviedo
    info

    Universidad de Oviedo

    Oviedo, España

    ROR https://ror.org/006gksa02

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Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Any de publicació: 2024

Volum: 21

Número: 1

Pàgines: 17-28

Tipus: Article

DOI: 10.4995/RIAI.2023.19440 DIALNET GOOGLE SCHOLAR lock_openAccés obert editor

Altres publicacions en: Revista iberoamericana de automática e informática industrial ( RIAI )

Resum

This article analyzes the characteristics of a WiFi wireless communication employing the TCP protocol, including its packetretransmission mechanisms and DCF. The focus of the study is the analysis of the influence of a non-priority medium accesscontrol scheme on centralized multi-agent robotic formation with a leader. Specifically, the impact of Jitter on formation control isexamined, as each packet transmitted by the leader agent contains critical information about its target position. Temporal variationsin the delivery of these packets can cause variations in the positions of the follower agents, which in turn can affect the maintenanceof the formation with some degree of error. Each robotic agent in the formation consists of a Pioneer 3-DX robot and a PID controllerthat enables it to move towards a target point under non-holonomic constraints. To analyze the impact of Jitter, a simulationenvironment is presented that incorporates external traffic sources as disturbance signals that vary the packet delivery, therebyaffecting the multi-agent robotic formation control.

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Fuente de los datos: Dialnet