Modular smart control system architecture for the mobile robot platform
作者: Raivo SellEero VäljaotsTengiz PataraiaEhsan Malayjerdi
作者单位: 1Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Ehitajate tee 5, 19086 Tallinn, Estonia; Corresponding author, raivo.sell@taltech.ee
2Department of Mechanical and Industrial Engineering, Tallinn University of Technology, Ehitajate tee 5, 19086 Tallinn, Estonia
刊名: Proceedings of the Estonian Academy of Sciences, 2019, Vol.68 (4), pp.395-400
来源数据库: Estonian Academy Publishers Journal Database
DOI: 10.3176/proc.2019.4.08
关键词: Mobile robotUnmanned ground vehicleSystem architecture.
原始语种摘要: 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.
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关键词翻译
关键词翻译
  • architecture 构造
  • platform 台地
  • software 软件
  • mobile 可动的
  • modular 模的
  • capability 能力
  • implementation 执行
  • middleware 中间软件
  • hierarchical 分级
  • account 计算