Control System and Design of the Motion Module of a Heterogeneous Modular Mobile Robot

Andreev, Victor P.; Kim, Valerii

doi:10.2507/27th.daaam.proceedings.086

Cited by 10 publications

(9 citation statements)

References 9 publications

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“…This heterogeneous modular mobile robot consists of the next basic modules: a transport module that performs locomotion of the whole robot, a module-supervisor that responsible for control goals definition, the power supply module and sensory modules. Some features of the transport module control system and design were considered in [10] in which old name was used for the transport module -the motion module.…”

Section: The Application Of the Methods To A Heterogeneous Modular Mobmentioning

confidence: 99%

The Application of Artificial Vector Fields for Motion Control of a Heterogeneous Modular Mobile Robot

Andreev¹,

Kim²

2017

DAAAM Proceedings

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This paper presents a novel method for motion realization of differential drive mobile robot along a complex trajectory using two-dimensional vector fields (artificial forces). The method allows robot to move along trajectories that similar to B-splines without their preparatory computation. This is performed by using the given sequence of points (intermediate goal points) and manipulation of vector fields that defined by Gaussian functions. The feature of the method realization is as follows in its application in the transport module of a heterogeneous modular mobile robot which modules are functionally complete electronic or mechatronic devices. A functional completeness in this case means that every module must perform the function that built in its engineering implementation and control system by itself. The transport module realizes its functions upon receipt control goals (parameters of position vector) from module-supervisor that is part of modular mobile robot. In this case the transport module computes motion trajectory independently. Therefore a method of information interaction between the transport module and a module-supervisor is considered in this paper. The transport module performance under control of a module-supervisor is viewed by the example of mobile robotics typical tasks: motion in a known and unknown environment.

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Section: The Application Of the Methods To A Heterogeneous Modular Mobmentioning

confidence: 99%

The Application of Artificial Vector Fields for Motion Control of a Heterogeneous Modular Mobile Robot

Andreev¹,

Kim²

2017

DAAAM Proceedings

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“…Based on the principle of full functionality, it is proposed to consider the structure of the MR control system (in the minimum version) as a synergetic union of full-featured modules (fig. 1) [15]: Transport Module -TM, Power Module -PM, the sensory system, consisting of Short-Range Sensor Module -SRSM and Long Range Sensor Module -LRSM, modules of an impact on the environment -SPM (manipulators, machining process, grippers etc.) and Intelligent Control Module -ICM.…”

Section: Distributed Mobile Robot Control System With Modular Architecturementioning

confidence: 99%

Control System Mobile Robots with Modular Architecture as a Multi-Agent System with a Hierarchical Topology

Andreev¹

2019

DAAAM Proceedings

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An approach to solving an urgent scientific problem is consideredthe development of principles and methods for creating control systems of mobile robots with a modular architecture based on the theory of multi-agent systems. It is proposed to use the hierarchical topology of the robot control system. Modular architecture assumes that each mechatronic module has its own control system implemented on relatively cheap microcontrollers. The modular solution allows for the rapid reconfiguration of robotic systems and significantly reduce the cost of manufacturing robots by reducing their variety. Inter-modules information and control interaction is proposed to be organized on a hierarchical basisa group of full-featured mechatronic submodules, solving the same type of tasks and working together, are controlled by a mechatronic module of a higher level. This approach allows increasing the system performance due to the distribution of computational load between computing devices of individual mechatronic modules and submodules. The proposed control system can be represented as a multi-agent system consisting of full-featured mechatronic and/or electronic modulesagents that interact with each other to achieve a specific goal. In this structure, an analogy is seen with such area of scientific research as a multi-agent systems.

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“…In that sense we can reduce the complexity by observing separately different unity parts of the system. Today, modular design is accepted in many projects regarding control systems, which facilitates future upgrades and maintenance of the system [31], [32].…”

Section: Related Workmentioning

confidence: 99%

DEM4RTS: Software Development Methodology for Special Case of Real-Time Closed-Loop Control Systems

Blaskovic¹,

Čandrlić²

2018

Proceedings of the 29th International DAAAM Symposium 2018

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The paper presents a novel case specific software development methodology oriented toward managing research and development of control software algorithms for modern marine electric propulsion systems. Focus of our research are highly complex technical closed-loop control systems where software performs process control algorithm in real-time. Specific software requirements (like efficient code and close compatibility with hardware on which it is implemented) are satisfied by implementing control mechanisms into development process. In addition, the methodology provides necessary documentation and traceability.

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Control System and Design of the Motion Module of a Heterogeneous Modular Mobile Robot

Cited by 10 publications

References 9 publications

The Application of Artificial Vector Fields for Motion Control of a Heterogeneous Modular Mobile Robot

The Application of Artificial Vector Fields for Motion Control of a Heterogeneous Modular Mobile Robot

Control System Mobile Robots with Modular Architecture as a Multi-Agent System with a Hierarchical Topology

DEM4RTS: Software Development Methodology for Special Case of Real-Time Closed-Loop Control Systems

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