Publication detail

Distributed control system for autonomous mobile robot

Szabó,I,Hammer,M. Král,R.

Czech title

Řídicí systém mobilního robotu

English title

Distributed control system for autonomous mobile robot

Type

conference paper

Language

en

Original abstract

The presented paper deals with the control system design for experimental autonomous mobile robot (ALR) VUTBOT-2 for automatic attendance of manufacturing system, on which all of the experiments will be done for local and global navigation, too. Multiprocessor control systems that are characterised with high independency compose very important area of automation resources. Maintenance of the multiprocessor system priority requires fast, safe and reliable communication channel. Based on these requirements was used the CAN communication device. That control system enables non-deterministic control in real-time. The internal communication in frames of subsystem proceeds by the CAN communication channel. Communication between robot manufacturing system is secured by radio FM transfer. Mobile robot control system is segmented into several functional: communication module, sensor module, locomotive module,control module. Each block must contain the microcontroller, which is capable communicate with an arbitrary connected module and execute the given function. The robot is currently realised as the physical model. The achieved results of practical experiments warrant successful realisation of robot construction and its successful using in automatic utility system of manufacturing system.

Czech abstract

Článek pojednává o řídicím systému mobilního robotu.

English abstract

The presented paper deals with the control system design for experimental autonomous mobile robot (ALR) VUTBOT-2 for automatic attendance of manufacturing system, on which all of the experiments will be done for local and global navigation, too. Multiprocessor control systems that are characterised with high independency compose very important area of automation resources. Maintenance of the multiprocessor system priority requires fast, safe and reliable communication channel. Based on these requirements was used the CAN communication device. That control system enables non-deterministic control in real-time. The internal communication in frames of subsystem proceeds by the CAN communication channel. Communication between robot manufacturing system is secured by radio FM transfer. Mobile robot control system is segmented into several functional: communication module, sensor module, locomotive module,control module. Each block must contain the microcontroller, which is capable communicate with an arbitrary connected module and execute the given function. The robot is currently realised as the physical model. The achieved results of practical experiments warrant successful realisation of robot construction and its successful using in automatic utility system of manufacturing system.

Keywords in English

Distributed control system, Autonomous mobile robot, CAN communication protocol

RIV year

2003

Released

01.01.2002

Publisher

Budapest Polytechnic (BMF)

Location

Budapest, Hungary

ISBN

963-7154-10-8

Book

Proceedings - RAAD 2002

Pages count

5

BIBTEX


@inproceedings{BUT8807,
  author="Miloš {Hammer} and Radek {Král},
  title="Distributed control system for autonomous mobile robot",
  booktitle="Proceedings - RAAD 2002",
  year="2002",
  month="January",
  publisher="Budapest Polytechnic (BMF)",
  address="Budapest, Hungary",
  isbn="963-7154-10-8"
}