V.A. Mulyukha
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Senior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-92-46, This email address is being protected from spambots. You need JavaScript enabled to view it.
M.Yu. Guk
RTC, Head of Department, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia,
tel.: +7(812)552-46-10, This email address is being protected from spambots. You need JavaScript enabled to view it.
V.S. Zaborovsky
Doctor of Technical Science, RTC, Professor, Deputy Chief Designer for Technical Cybernetics, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-92-46, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
The paper analyzes network-centric control methods for mobile robotic groups in conditions of motion through undetermined environment. Each robot is a cyber-physical object consisting of mechatronic part and computer module, which generates commands. The use of network-centric approach allows transferring resource-intensive computing tasks in a high-performance hybrid cloud environment, which is a single point for processing of all sensory data. It allows us to use the advantages of centralized control and to manage the resources of mobile robots more effectively. In the paper we consider the task of combining the environment map. A key element of such control systems is reliable communication links. Redundancy and duplication of communication channels are used to provide a continuous connection between a mobile robot and control center.
The research is supported by the Russian Foundation for Basic Research within the framework of the project no. 15-29-07131_ofi_m.
Key words
Network-centric control, cyberphysical objects, mobile robots, combined map, environmental map.
Year 2016 Issue number 3 Consecutive issue number 12 Pages 42-47
UDC identifier: 004.5:62-5:007.52
