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
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