Organizing Network Interaction in Modular Robot with Multilevel Control System

Abstract

The features of network communication in mobile modular robots with multilevel control system (CS) are considered both inside single layer and between multiple layers. Modular architecture enables implementation of rapid reconfiguration of robotic systems. Most of modern systems are built as one pieceall data streams come to a single powerful onboard computer, which implements the major part of control system. Hierarchical division on modules and submodules with their own CS enables lowering computational load on central parts of control systems via distributing calculations between them, abstracting and fusing data. Implementing such multilevel modular control system places restrictions on the possible means of communication between modules and submodules. In this paper, communicational bonds in a modular robot are being considered and parameters of emerging information flows are being analyzed. Based on this, the requirements for the types of networks and their topologies are presented.