Software and control shell for service robots with parallel computing

Radomir B. Tarasov
Keldysh Institute of Applied Mathematics, Postgraduate Student, 4, Miusskaya pl., Moscow, 125047, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Oleg I. Davydov
PhD in Technical Sciences, LLC International Laboratory «Sensorica», Leading Research Scientist, 4, Miusskaya pl., Moscow, 125047, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Valentin E. Pryanichnikov
Doctor of Technical Science, Keldysh Institute of Applied MathematicsLeading Research Scientist, 4, Miusskaya pl., Moscow, 125047, Russia; Russian State University for the Humanities, The International Institute for New Educational Technologies implements, Head of the Sensory and Control Systems Department, Head of the Laboratory «Intelligent Robotronics», 6, Miusskaya pl., GSP-3, Moscow, 125993, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Mariya D. Solov'eva
Keldysh Institute of Applied Mathematics, Postgraduate Student, 4, Miusskaya pl., Moscow, 125047, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Egor A. Shipovalov
Keldysh Institute of Applied Mathematics, Postgraduate Student, 4, Miusskaya pl., Moscow, 125047, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Stanislav R. Eprikov
Keldysh Institute of Applied Mathematics, Postgraduate Student, 4, Miusskaya pl., Moscow, 125047, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 1 October 2020

Abstract
KIAM Russian Academy of Sciences, International Laboratory «Sensorika» conduct research and development of service robots for tasks of telemedicine. The developed mobile robot AMUR-307 is planned to be used in clinics to move various objects between the premises of the building, separated by thresholds, stairs and doors. The robot is controlled remotely via a radio channel from the operator's post. It is also intended to minimize operator interference and apply the developed algorithms for autonomous operation using an on-board computing device. To control robots of this type, a software and hardware microprocessor system was designed and manufactured and its comprehensive testing was performed. The solution allows you quickly make changes to the customer's requirements and deliver robots, integrating them into the existing infrastructure. The article presents the results of research and comparison of various ways to implement the robot, optimize its structure, replication technology and parallel programming using the GPU.

Key words
Service robots and design of their electronic control devices, cross-board, client-server architecture, pass-frames, parallel computing.

DOI
https://doi.org/10.31776/RTCJ.9203

Bibliographic description
Tarasov, R. et al., 2021. Software and control shell for service robots with parallel computing. Robotics and Technical Cybernetics, 9(2), pp.99-105.

UDC identifier:
007.52

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