Modelo de red inalámbrica para un robot modular tipo cadena

Abstract

This research implements an AD HOC wireless network to enable distributed interaction among the modules of a chain-type modular robot during task execution, facilitating the exchange of information about their state, movement articulation, and operational coordination without physical connections. To validate its operation, the EMERGE chain-type modular robot was used in a controlled experimental environment, evaluating three wireless communication technologies: Wi-Fi (ESP-NOW), Bluetooth Low Energy (BLE), and LoRa, using latency, energy consumption, and connection stability as performance metrics during coordinated movements. The results show that ESP-NOW achieved the best latency performance, with average transmission times close to 5 ms and low variability; BLE presented higher transmission times, close to 30 ms, with moderate energy consumption; while LoRa exhibited lower energy consumption and greater link stability, although with higher transmission times. Overall, the results demonstrate the feasibility of decentralized wireless networks as an alternative to wired communication systems, highlighting that protocol selection should be based on the specific requirements of the task and contributing to the development of more autonomous, scalable, and easily reconfigurable modular robotic platforms.