Multi-robot formation based on RSSI power level and radiation pattern

E. G. Hernandez-Martinez, Jaime González-Sierra, Eduardo Alvarez-Guzman, Guillermo Fernandez-Anaya, Enrique D. Ferreira-Vazquez and José-Job Flores-Godoy

International Journal of Systems Science, 2022, vol. 53, issue 3, 634-651

Abstract: This paper studies a formation control scheme to achieve a ‘dispersion’ of a group of robots using the Received Signal Strength Indication (RSSI) measurements of their on-board wireless nodes as feedback signals and their antenna radiation patterns (which is not omnidirectional in most of the cases) as a distance sensor between pairs of robots. In this sense, the multi-robot coordination evolves from a distance formation control to a power-based dispersion strategy. Thus, with the use of feedback through RSSI levels, the heading angle between the agents and the differences of its orientation angles, the control law becomes decentralised, avoiding the need of distance sensors. The result applies to a group of robots with a directed spanning tree topology, with root in the leader and the rest of followers are formed with respect to a unique local leader. The approach considers distinct radiation patterns found in Bluetooth or WiFi communication devices. As the approach ensures the convergence to desired values of RSSI, then a connectivity between the wireless nodes can be adjusted to maintain a desired communication data rate and wireless coverage by the robots posture. Simulations and real-time experiments illustrate the performance of the system.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2021.1969467 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:53:y:2022:i:3:p:634-651

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2021.1969467

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().