Řídicí systém mobilního robotu

Distributed control system for autonomous mobile robot

conference paper

en

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.

Článek pojednává o řídicím systému mobilního robotu.

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.

Distributed control system, Autonomous mobile robot, CAN communication protocol

2003

01.01.2002

Budapest Polytechnic (BMF)

Budapest, Hungary

963-7154-10-8

Proceedings - RAAD 2002

5