Optimal control of a two-wheeled mobile robot via finite capacity communication channel

This paper presents specific hardware and components which can be used to implement optimal control strategies via wireless communication channels to achieve path tracking. The position of the robot at each time instant Is found by implementing a localization algorithm. Simulations results are presented using robust and Linear Quadratic Gaussian (LQG) controller architectures. The overall aim of this research is the integration of the controller in a communication system where the sensor and/or reference information is transmitted via a channel with finite capacity. © 2008 IEEE. 946 951