The architecture of mobile robot, a part
of software and hardware system
for group control algorithms development
V. A. Aleksandrov,
A. I. Kobrin
Moscow Power Engineering Institute (Technical University)
Received April 2,
2011, after correction - May 30, 2011
Abstract. This article describes the hardware architecture of the
autonomous mobile research mini-robot which is a part of the hardware &
software complex created for studying multiagent cooperational control of
mobile robot group algorithms. The mobile robot is equipped by the set of the
onboard devices: 8x rangefinding modules, the radio communication module, 2x IR
(infra-red) locators, capable to detect special IR-labels, IR directional
communication module with the limited range, 2x encoders, 2x DC motors,
indication and the sound notification systems. Use of a considerable
quantity of sensors is motivated by necessity of application only internal navigation
system without any external corrections. Thanks to it, the algorithms developed
with use of this hardware & software complex can be applied in structurally
similar problems in which external correction of navigating system of the
mobile robot cannot be entered . Equipment of the mobile robot by the
duplicated communication system (radio and IR) provides ample opportunities of
interaction in a group of robots.
Keywords:
electronics, mobile robot, group control, sensor based
system.