Energy-Efficient Control for an Unmanned Ground Vehicle in a Wireless Sensor Network
Joint Authors
Cuenca, Ángel
Salt, Julián
Alcaina, José
Zheng, Minghui
Tomizuka, Masayoshi
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-10-07
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
In this paper, an energy-efficient control solution for an Unmanned Ground Vehicle (UGV) in a Wireless Sensor Network is proposed.
This novel control approach integrates periodic event-triggered control, packet-based control, time-varying dual-rate Kalman filter-based prediction techniques, and dual-rate control.
The systematic combination of these control techniques allows the UGV to track the desired path preserving performance properties, despite (i) existing scarce data due to the reduced usage of the wireless sensor device, which results in less number of transmissions through the network and, hence, bandwidth and battery saving; (ii) appearance of some wireless communication problems such as time-varying delays, packet dropouts, and packet disorder; and (iii) coping with a realistic scenario where external disturbance and sensor noise can arise.
The main benefits of the control solution are illustrated via simulation.
American Psychological Association (APA)
Alcaina, José& Cuenca, Ángel& Salt, Julián& Zheng, Minghui& Tomizuka, Masayoshi. 2019. Energy-Efficient Control for an Unmanned Ground Vehicle in a Wireless Sensor Network. Journal of Sensors،Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1191480
Modern Language Association (MLA)
Alcaina, José…[et al.]. Energy-Efficient Control for an Unmanned Ground Vehicle in a Wireless Sensor Network. Journal of Sensors No. 2019 (2019), pp.1-16.
https://search.emarefa.net/detail/BIM-1191480
American Medical Association (AMA)
Alcaina, José& Cuenca, Ángel& Salt, Julián& Zheng, Minghui& Tomizuka, Masayoshi. Energy-Efficient Control for an Unmanned Ground Vehicle in a Wireless Sensor Network. Journal of Sensors. 2019. Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1191480
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1191480