Aproximación de robot a un punto basada en eventos con posicionamiento mediante PSD

  1. Carlos Santos 1
  2. David Rodríguez 1
  3. Álvaro de la Llana 1
  4. Felipe Espinosa 1
  5. José L. Lázaro 1
  1. 1 Universidad de Alcalá
    info
    Universidad de Alcalá

    Alcalá de Henares, España

    ROR https://ror.org/04pmn0e78

    Geographic location of the organization Universidad de Alcalá
Book:
XXXIX Jornadas de Automática: actas. Badajoz, 5-7 de septiembre de 2018
  1. Inés Tejado Balsera (coord.)
  2. Emiliano Pérez Hernández (coord.)
  3. Antonio José Calderón Godoy (coord.)
  4. Isaías González Pérez (coord.)
  5. Pilar Merchán García (coord.)
  6. Jesús Lozano Rogado (coord.)
  7. Santiago Salamanca Miño (coord.)
  8. Blas M. Vinagre Jara (coord.)

Publisher: Universidad de Extremadura

ISBN: 978-84-9749-756-5,  978-84-09-04460-3

Year of publication: 2018

Pages: 256-261

Congress: Jornadas de Automática (39. 2018. Badajoz)

Type: Conference paper

DOI: 10.17979/SPUDC.9788497497565.0256 DIALNET GOOGLE SCHOLAR HANDLE: https://hdl.handle.net/2183/24795

Abstract

In networked control systems, event-based control strategies have proven effectiveness in significantly reducing the load on the wireless channel without relevantly degrading the established performance index. The Self-triggered mechanism contemplates a minimum time to guarantee stability and a maximum time of acceptance for the system working in open loop. The minimum time, in practice, is usually imposed by hardware restrictions and by the refresh rate of the remote sensors. In the case of computational vision cameras, this time may be significant and sensing techniques requiring less computational load are being explored. In this context, the alternative of optical position sensing devices (PSD) provides important improvements that are evaluated in this work. A P3-DX robot with Selftriggered control for approaching task and external sensing via PSD are used for experimental validation.

Data source: Dialnet