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Proceedings of the Estonian Academy of Sciences

ISSN 1736-7530 (electronic)   ISSN 1736-6046 (print)
Formerly: Proceedings of the Estonian Academy of Sciences, series Physics & Mathematics and  Chemistry
Published since 1952

Proceedings of the Estonian Academy of Sciences

ISSN 1736-7530 (electronic)   ISSN 1736-6046 (print)
Formerly: Proceedings of the Estonian Academy of Sciences, series Physics & Mathematics and  Chemistry
Published since 1952
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Modular smart control system architecture for the mobile robot platform; pp. 395–400

(Full article in PDF format) https://doi.org/10.3176/proc.2019.4.08


Authors

Raivo Sell, Eero Väljaots, Tengiz Pataraia, Ehsan Malayjerdi

Abstract

The paper is focusing on the research of current technologies of multi-purpose mobile robots, including implementation of modular layout, open software frameworks, self-organization with plug and play (PnP) capability and adaptive sensor fusion. The hardware layout is studied in detail and modular architecture is proposed as an optimal solution of module interconnection. Software modular architecture is developed in the similar principle, taking plug and play connectivity into account. The framework
of the software consists of implementing middleware for the software modularization and three-level hierarchical structure. Practical implementation platforms are introduced and future developments discussed.

Keywords

mobile robot, unmanned ground vehicle, system architecture.

References

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Current Issue: Vol. 69, Issue 3, 2020




Publishing schedule:
No. 1: 20 March
No. 2: 20 June
No. 3: 20 September
No. 4: 20 December