Simulation of Wireless Networked Control Systems
Martin Andersson, Dan Henriksson, Anton Cervin, K. Arzen · 2006
Embedded systems are becoming increasingly networked and are deployed in application areas that require close interaction with their physical environment. Examples include distributed mobileagents and wireless sensor/ac tuator networks. The complexity of these applic ations make co- simulation a necessary tool during system development. This paper presents a simulation environment that facilitates simu- lation of computer nodes and communic ation networks inter- acting with the continuous-time dynamics of the real world. Features of the simulator include interrupt handling, task scheduling, wired and wireless communication, local clocks, dynamic voltage scaling, and battery-driven operation. Two simulation case studies are presented: a simple communication scenario and a mobile robot soccer game.