Hardware &amp; Software Solution for Rapid Reconfiguration of Heterogeneous Robots

Andreev, Viktor; Kim, V. L.; Pletenev, Pavel

doi:10.17587/mau.19.387-395

Cited by 6 publications

(3 citation statements)

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“…Analysis of the construction principles of multi-agent systems showed that in our approach to the creation of a control system for robots with modular architecture, certain analogies are observed [20], whose application in the field of modular robotics has not yet been widely considered in well-known publications. The principles of dividing the general control process into subfunctions that do not violate the property of the full functionality of modules are not yet known.…”

Section: Hierarchical Topology Of the Mr Control System And Multi-agent Systemsmentioning

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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Section: Hierarchical Topology Of the Mr Control System And Multi-agent Systemsmentioning

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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“…According to the proposed concept every module is functionally independent and solves strictly defined set of tasks. The full-featured modules united into one robotic system must interact between each other using special protocol [20] that standardizes modules command system, transmission data format, message priority etc. These modules are responsible only for particular functions so they require less computational resources compared with a whole robot.…”

Section: Hierarchical Modular Architecture Of Mobile Robotsmentioning

confidence: 99%

A Hierarchical Modular Architecture for Reconfigurable Mobile Robots

Andreev¹,

Kim²,

Pryanichnikov³

2019

DAAAM Proceedings

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In this paper we investigate a common issues associated with growth of computational complexity of mobile robots navigation algorithms. It is also shown that a realization of a particular robot application is usually slowed down because of lack of interchangeable and unified robot components. We propose a hierarchical modular architecture for reconfigurable mobile robots as a solution to these problems. In this architecture a mobile robot considered as a combination of modules, which in turn consist of more simple units -sub-modules. Each submodule incorporates a low performance microcontroller and is responsible for only basic functions. A set of sub-modules are then combined into a moduletransport platform, robot leg, arm etc. Besides of this one of the main goals of the study is to provide a framework based on this architecture for a rapid robot prototyping with modules that can be assembled in a plug-and-play way. In this paper we mostly consider hardware modules and prototypes that have been already manufactured. We also briefly investigate a robot transport module structure for a motion on a rough terrain in an unstructured environment.

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“…A sensor module (Fig. 8) with twelve ultrasonic sensors (it is a short-range sensor system of a mobile robot with a modular architecture) was developed and manufactured [13]. It is assumed that the simultaneous operation of ultrasonic sensors located around the circumference of the sensor module with equal steps relative to each other (30 O ) will not affect the results of the identification of the shapes of objects.…”

Section: Ultrasonic Sensor System Of Parallel Firingmentioning

confidence: 99%

Identification of the Obstacle Shape Using the Ultrasonic Sensors Module of Modular Mobile Robot

Andreev¹,

Tarasova²

2018

Proceedings of the 29th International DAAAM Symposium 2018

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This paper shows the results of the study, the purpose of which is to solve the problem of identifying the shape of an obstacle and its orientation in a certain coordinate system using a sensor system of a modular mobile robot consisting of ultrasonic sensors. . Two implementations of the sensor system are considered: the ultrasonic sensor is located on the pivot-tilt mechanism controlled from a microcontroller; a multitude of ultrasound sensors is located along the perimeter of the robot sensor module. In the first case, the form of the obstacle is determined by scanning the surrounding space with one sensor; in the second case, all ultrasonic sensors are simultaneously firing and, based echo analysis the relief of the surrounding space is constructed, thereby performing a parallel scanning over the range of the territory. Experiments are show that the echo analysis of ultrasonic sensors with using the microcontroller is able to determine not only the azimuth of the obstacle, but also its shape such as the external (convex) corner, the internal (concave) corner, the flat wall, the doorway with the open door, the object of round shape and etc., and their orientation in some coordinate system.

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Hardware & Software Solution for Rapid Reconfiguration of Heterogeneous Robots

Cited by 6 publications

References 0 publications

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

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

A Hierarchical Modular Architecture for Reconfigurable Mobile Robots

Identification of the Obstacle Shape Using the Ultrasonic Sensors Module of Modular Mobile Robot

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