Comparação de Tecnologias Sem Fios em Equipas de Robôs Móveis
Transcrição
Comparação de Tecnologias Sem Fios em Equipas de Robôs Móveis
WirelessTeams: Comparação de Tecnologias Sem Fios em Equipas de Robôs Móveis Amadeu Socorro Lopes Fernandes Estado da arte Setembro, 2011 2 Departamento de Engenharia Electrotécnica Faculdade de Ciências e Tecnologia Universidade de Coimbra WirelessTeams: Comparação de Tecnologias Sem Fios em Equipas de Robôs Móveis Orientador: Prof. Doutor Rui Rocha Co-Orientadores: Eng.º David Portugal Eng.º Micael Couceiro Estado da arte Setembro, 2011 3 Índice Lista de Figuras .......................................................................................................................................6 Acrónimos ...............................................................................................................................................8 1. Tecnologias de comunicação sem fio ............................................................................................10 2. ZigBee ...........................................................................................................................................14 2.1. Definição ...............................................................................................................................14 2.2. História ..................................................................................................................................15 2.3. Especificação .........................................................................................................................16 2.3.1. ZigBee e ZigBee PRO ...................................................................................................16 2.3.2. ZigBee RF4CE ..............................................................................................................19 2.4. 2.4.1. Dispositivos ZigBee ..........................................................................................................22 2.4.2. Dispositivos Físicos ...........................................................................................................23 2.5. 3. ZigBee e a norma IEEE 802.15.4 ..........................................................................................22 Pilha protocolar .....................................................................................................................25 2.5.1. Camada Física (PHY) ....................................................................................................25 2.5.2. Camada MAC ................................................................................................................27 2.5.2.1. Tramas beacon ...........................................................................................................30 2.5.2.2. Trama de dados .........................................................................................................31 2.5.2.3. Trama de reconhecimento (ACK) .............................................................................31 2.5.2.4. Trama de comando MAC ..........................................................................................32 2.5.3. Camada de Rede ............................................................................................................33 2.5.4. Camada de Aplicação ....................................................................................................34 2.6. Topologia ..............................................................................................................................35 2.7. Aplicações .............................................................................................................................37 Bluetooth .......................................................................................................................................38 3.1. Definição ...............................................................................................................................38 3.2. História ..................................................................................................................................38 4 3.3. Especificação .........................................................................................................................40 3.4. Bluetooth e a norma IEEE 802.15 .........................................................................................40 3.5. Pilha protocolar do Bluetooth................................................................................................41 3.6. Topologia ..............................................................................................................................44 3.7. Aplicações .............................................................................................................................49 4. Wifi................................................................................................................................................50 4.1. Definição ...............................................................................................................................50 4.2. História ..................................................................................................................................50 4.3. Especificação da norma IEEE 802.11 e gerações..................................................................50 4.4. WiFi Alliance e a norma IEEE 802.11 ..................................................................................53 4.5. Pilha Protocolar do WiFi .......................................................................................................53 10.1. Topologia...........................................................................................................................54 10.2. Aplicações .........................................................................................................................56 11. Comparação ...............................................................................................................................57 12. Comunicação de robôs móveis ..................................................................................................62 13. Xbee Shield e Importância do ZigBee no Traxbot ....................................................................65 14. Conclusão ..................................................................................................................................69 References .............................................................................................................................................70 5 Lista de Figuras Figura 1 – Espectro Electromagnético [Pontodeouro] ............................................................. 10 Figura 2 – Divisão das redes sem fio [SMK+07] ..................................................................... 11 Figura 3 – Exemplo da topologia da rede ZigBee RF4CE [A06] ............................................ 20 Figura 4 – Especificação da pilha protocolar ZigBee RF4CE ................................................. 21 Figura 5 – Modelo de uma rede ZigBee ................................................................................... 24 Figura 6 – Pilha protocolar do ZigBee ..................................................................................... 25 Figura 7 – Camada Física [SM06] ........................................................................................... 26 Figura 8 – Estrutura de uma Superframe sem GTS. ................................................................ 28 Figura 9 – Estrutura de um Superframe com GTSs ................................................................. 29 Figura 10 – Esquema da trama (frame) Beacon ....................................................................... 30 Figura 11 – Esquema da trama de dados .................................................................................. 31 Figura 12 – Esquema da trama ACK ....................................................................................... 32 Figura 13 – Esquema da trama de comando MAC .................................................................. 33 Figura 14 – Topologia em Estrela (Star), Malha (Mesh), Arvore (Cluster Tree) .................... 34 Figura 15 – Topologia em Estrela (Star Topology) [SBF+11]................................................. 35 Figura 16 – Topologia em Árvore (Tree Toopology) [SBF+11] .............................................. 36 Figura 17 – Topologia em Malha (Mesh Topology) [SBF+11] ............................................... 36 Figura 18 – Memorial [Medievaldanishfamilies]..................................................................... 39 Figura 19 – Pilha Protocolar do Bluetooth [S03] ..................................................................... 41 Figura 20 – Partes de um Sistema Bluetooth [B97] ................................................................. 43 Figura 21 – Piconet Bluetooth [S03] ........................................................................................ 45 Figura 22 – Scatternet [S03]..................................................................................................... 47 Figura 23 – Principais estados de um dispositivo Bluetooth [S03].......................................... 47 Figura 24 – Pilha protocolar do WiFi [FEUP] ......................................................................... 54 Figura 25 – Redes com Infra-estrutura WiFi [S03].................................................................. 55 Figura 26 – Redes ad hoc WiFi [S03] ...................................................................................... 56 Figura 27 – Especificação da Norma IEEE 802 ....................................................................... 57 Figura 28 – Evolução da comunicação sem fio para robôs ...................................................... 62 Figura 29 – Robô TraxBot ....................................................................................................... 65 Figura 30 – XBee [rogercom.com] .......................................................................................... 66 Figura 31 – XBee-Pro [GH07] ................................................................................................. 67 Figura 32 – Circuito Electrónico principal [APC+11] ............................................................. 67 Figura 33 – Pacote de dados para entrega [GH07] ................................................................... 68 Figura 34 – Especificação do XBee e XBee-Pro [M06] .......................................................... 68 6 Lista de Tabelas Tabela 1 – Vantagens e Desvantagens das WLANs ................................................................ 12 Tabela 2 – Características das especificações ZigBee e ZigBee PRO [A11] .......................... 17 Tabela 3 – Características das especificações ZigBee e ZigBee PRO [A11] .......................... 18 Tabela 4 - Bandas de Frequências e taxas de dados [SM06] ................................................... 26 Tabela 5 – Classes de dispositivos ........................................................................................... 44 Tabela 6 – A norma IEEE 802.11 e suas gerações................................................................... 51 Tabela 7 – Algumas Especificações técnicas do Wifi.............................................................. 52 Tabela 8 – Normas e Companhias responsáveis pelas tecnologias .......................................... 57 Tabela 9 – Modos de operação ................................................................................................. 58 Tabela 10 – Comparação entre ZigBee, Bluetooth e Wifi [LSS07] ......................................... 59 Tabela 11 – Vantagens e Desvantagens das redes ad hoc........................................................ 64 7 Acrónimos ACK – Acknowledgement ACL – Asynchronous Communication Less ADSK – Asymmetric Digital Subscriber Line AES – Advanced Encryption Standard AP –Access Point APS – Application Sublayer BPSK – Binary Phase Shift Keying BPSK (+ASK) – Binary Phase Shift Keying (+ Amplitude-shift keying) BSS – Base Station Subsystem CBC – Cipher Block Chaining CCK – Complementary Code Keying CFI – Call For Interest COFDM – Coded Orthogonal Frequency Division Multiplexing CSMA/CA – Carrier Sense Multiple Access with Collision Avoidance CSMA/CD – Carrier Sense Multiple Access with Collision Detection DSSS – Direct Sequence Spread Spectrum ED – Energy Detection FCS – Frame Chech Sequence FH-CDMA – Frequency Hopping – Code Division Multiple Access FHSS – Frequency Hopping Spread Spectrum FSSS/CDMA – Frequency Hopping Spread Spectrum/ Code Division Multiple Access FTP – File Transfer Protocol GFSK – Gaussian Frequency-Shift Keying GTS – Guaranteed Time Slot IEEE – Institute of Electrical and Electronics Engineers IP – Internet Protocol ISM – Industrial, Scientific and Medical LQI – Link Quality Indication LR –WPAN – Low data Rate – Wireless Personal Area Network M – QAM – Multi-Level Quadrature Amplitude Modulation MAC – Medium Access Control MCPS – MAC common part sublayer MCPS – SAP – MAC common part sublayer-service access point MFR MAC – MAC footer MHR – MAC Header MIMO A – Multiple Input and Multiple Output Antennas MLME MAC – Sublayer Management Entity MLME – SAP MAC – Sublayer Management Entity-Service Access Point MPDU MAC – Protocol Data Unit MSDU MAC – Service Data Unit MTU – Maximum Transmission Unit 8 OEM – Original Equipment Manufacturer OFDM – Orthogonal frequency-division multiplexing O-QPSK – Offset Quadrature Phase-Shift Keying OSI – Open Systems Interconnection PAN – Personal Area Network PANPC – Personal Area Network Computer PCM – Pulse Code Modulation PCR – Program Clock Reference PDA – Personal Digital Assistant PD – SAP PHY- Data Service Access Point PDU – Protocol Data Unit PHR PHY – Physical header PHY – Physical Layer PLME – Physical Layer Management Entity PLME – SAP – Physical Layer Management Entity-Service Access Point POS – Personal Operating Space PPDU – Physical Protocol Data Unit PRF – Pulse Repetition Frequency PSDU – Physical Service Data Unit QoS – Quality of Service RF – Radio Frequency RF4CE – Radio Frequency for Consumer Electronics RFD – Reduced-Function Device RTP – Real-Time Transport Protocol RX – receive or receiver SAP – Service Access Point SDU – Service Data Unit SFD – Start-of-Frame Delimiter SHR – Synchronization Header SPDU SSCS – Service Protocol Data units SRD – Short-Range Device SSCS – Service Specific Convergence Sublayer TCP – Transmission Control Protocol TDMA/TDD – Time division multiple access/Time Division Duplexing TRX – Transceiver UDP – User Datagram Protocol WLAN – Wireless Local Area Network WPAN – Wireless Personal Area Network 9 References [A11] Set, F. 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