Open Access Open Access  Restricted Access Subscription or Fee Access

Quality of Control and Quality of Service in Mobile Robot Navigation

José-Luis Poza-Luján, Juan-Luis Posadas-Yagüe, José-Enrique Simó-Tene

Abstract


This article presents the experimental work developed to test the viability and to measure the efficiency of the intelligent control distributed architectures. To do this, a simulated navigation scenario of Braitenberg vehicles has been developed. To control the vehicles, system uses a distributed control architecture that provides support to QoS and QoC parameters to optimize de system. The architecture uses a Publish-Subscribe model, based on Data Distribution Service to send the control messages. Due to the nature of the Publish-Subscribe model, the architecture is suitable to implement event-based control systems. The architecture has been called FSACtrl. To test the efficiency, the architecture provides a set of Quality of Service parameters. In the experiment described in this paper, the performance is used as a reference. The measuring of the quality of the navigation is done through the Integrated Time Average Error as Quality of Control parameter. Tested scenarios are: an environment without quality parameter managing, an environment with a relevant message filtering and an environment with a predictive filtering determined by the type of scenario used. Results obtained show that some of the processing performed in the control nodes can be moved to the middleware to optimize the robot navigation.

Keywords


Distributed Systems, Control Architectures, Quality of Service, Quality of Control.

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information. Also: DOI is paid service which provided by a third party. We never mentioned that we go for this for our any journal. However, journal have no objection if author go directly for this paid DOI service.