Method for Design and Performance Evaluation of Ad Hoc Networked Mobile Robotic Systems using OMNET++. Issue 30 (2016)

• Record Type: Journal Article
• Authors: Ramos, Daniel C.; Moreno, Ubirajara F.; Almeida, Luis
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 30(2016)
• Page Start: 144
• Page End: 149
• Publication Date: 2016
• Subjects: Networked Control Systems (NCS) -- Mobile Ad Hoc Network (MANET) -- Cooperative Robotics -- System Simulation -- Wireless Sensor Network (WSN) -- OMNET++; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.11.144
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Using a team of mobile robots connected through ad hoc networks is becoming increasingly attractive for a myriad of applications, including search, rescue and surveillance. In this paper, we present a method for the design and performance evaluation of complex wireless networked control systems, focusing on cooperative control strategy in robotic tasks. It is described a simulation architecture and specific developments that are required to simulate cooperative robotic systems over a mobile ad hoc network (MANET), regarding individual control, cooperative control, network model and topology control aspects. We assess the capabilities of the proposed method using OMNET++/INET simulator and a rendezvous task with topology control over a MANET. The rendez-vous task is implemented as a consensus problem and is solved by receding horizon control. The resulting simulation shows that not only it is possible to simulate this complex set of algorithms on OMNeT++, but if an organized simulation process is followed, it may allow a better planning of experimental cases to achieve more meaningful results.