QUICK TWO-WAY TIME MESSAGE EXCHANGE FOR TIME SYNCHRONIZATION IN ROBOT NETWORKS

被引：2

作者：

Shi, Fanrong ^{[1
]}

Tuo, Xianguo ^{[1
,2
]}

Lu, Jing ^{[1
]}

Ren, Zhenwen ^{[1
]}

Ran, Lili ^{[1
]}

机构：

[1] Southwest Univ Sci & Technol, Robot Technol Used Special Environm Key Lab Sichu, Mianyang, Sichuan, Peoples R China

[2] Sichuan Univ Sci & Engn, Coll Chem & Environm, Zigong, Sichuan, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2018年 / 33卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Synchronization; multiple robot; quadrotor; clock offset estimation; wireless sensor networks; quick two-way time message exchange; CLOCK SYNCHRONIZATION; SENSOR NETWORKS; OFFSET;

D O I：

10.2316/Journal.206.2018.6.206-5160

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Time synchronization is important for coordination and control in multiple robot networks. Two-way time message exchange (TTME) time synchronization is efficient, but due to variable response latency, it does not completely meet the requirements for quadrotor robot groups. Aiming to provide accurate time synchronization for robots, the proposed quick TTME synchronization starts a downlink after an uplink quickly and tries to maintain a fixed clock offset for the estimation. A timeout constraint is used to filter invalid observations and optimize clock offset estimation. This avoids the increasing clock offset caused by large software latencies and communication link delays, guarantees a fixed clock offset for TTME, and provides precise and stable clock offset estimation for time synchronization in robot networks.

引用

页码：628 / 634

页数：7

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