Borja-videos

These are some examples of real life experiences on the hose transportation problem. Robot detection and control software is run on a PC. Red dots represent the references (where robots should be) and green dots the posture given by the camera (where they are). Commands are sent to robots using radio transceivers:

A) Non-Linked Robots

• A.1 Tangential speeds for all robots were limited to 0.02 m/s.(media:2010.5.run1.avi)

No physical links are used and robots perform relatively well. Due to communication errors, delays, servo inaccuracies and nature of PI controllers, robots oscillate around the path.

B) Linked Robots

• B.1 Tangential speeds for all robots were limited to 0.02 m/s. (media:2010.5.run3.avi)

Steering behaves worse as the physical link introduces some traction effects on the system. For the same reason, it takes longer for the robots to catch the references.

• B.2 Max. tangential speed for last robot was limited (50%). References move full-speed. (media:2010.5.run5.avi)
• B.3 Max. tangential speed for last robot was limited (50%). References move at 75% speed.(media:2010.5.run6.avi)
• B.4 Max. tangential speed for last robot was limited (50%). References move at 50% speed.(media:2010.5.run7.avi)

• B.5 Last robot is switched off. References move full-speed. (media:2010.5.run8.avi)
• B.6 Last robot is switched off. References move at 50% speed. (media:2010.5.run9.avi)