Development of a Distributed Control System for Mobile Robots using CAN

Mobile robots have been widely used for the good adaptability, payload capability. Robot cooperation brings benefits for the task in a multi-robot team. In this paper, the modular hardware design of a leader-follower mobile robot team is discussed, including the distributed control architecture and the electronic system of each robot of the team. The basic idea behind this paper is to introduce the design of the hardware and distributed control architecture, which mainly manages the distributed control system, consisting of microcontroller modules connected through a data bus. The research has a potential applying prospect in mobile robot tracing and locating in the future.

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Synthesis of distributed control system for a group of mobile robots

Proceedings of the Mavlyutov Institute of Mechanics ◽

10.21662/uim2017.2.030 ◽

2017 ◽

Vol 12 (2) ◽

pp. 199-205

Author(s):

B.S. Yudintcev ◽

A.Y. Alekseev

Keyword(s):

Information Processing ◽

Control System ◽

Mobile Robots ◽

Wireless Network ◽

Distributed Control ◽

Distributed Control System ◽

Information Flows

The technique of synthesis of specialized architecture of the control system, taking into account the peculiarities of the organization of the team of robots, the specifics of information flows and hardware is considered. To implement the proposed architecture contains three levels, and supports cloud-based and multithreaded technology of information processing, focuses on modern types of controllers and processors. The technology of forming an intranet in a team of robots based on a ”domain“ wireless network created using Wi-Fi Protocol and software of its own development.

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Distributed control system for mobile robots with differential drive

2016 Cybernetics & Informatics (K&I) ◽

10.1109/cyberi.2016.7438610 ◽

2016 ◽

Cited By ~ 1

Author(s):

Jan Jadlovsky ◽

Michal Kopcik

Keyword(s):

Control System ◽

Mobile Robots ◽

Distributed Control ◽

Distributed Control System ◽

Differential Drive

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Development of a Design Methodology for Cloud Distributed Control Systems of Mobile Robots

Journal of Sensor and Actuator Networks ◽

10.3390/jsan11010001 ◽

2021 ◽

Vol 11 (1) ◽

pp. 1

Author(s):

Semyon Sechenev ◽

Igor Ryadchikov ◽

Alexander Gusev ◽

Abas Lampezhev ◽

Evgeny Nikulchev

Keyword(s):

Control System ◽

Mobile Robots ◽

Control Systems ◽

Distributed Control ◽

Design Methodology ◽

Development Stage ◽

Systems Development ◽

Walking Robots ◽

Distributed Control System ◽

Distributed Control Systems

This article addresses the problem of cloud distributed control systems development for mobile robots. The authors emphasize the lack of a design methodology to guide the process of the development in accordance with specific technical and economic requirements for the robot. On the analysis of various robots architectures, the set of the nine most significant parameters are identified to direct the development stage by stage. Based on those parameters, the design methodology is proposed to build a scalable three-level cloud distributed control system for a robot. The application of the methodology is demonstrated on the example of AnyWalker open source robotics platform. The developed methodology is also applied to two other walking robots illustrated in the article.

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