Research on the Configuration Method of Mobile Robot and Its Realization
The development mode of robots control software has a close relationship with its operation management,dynamic reconfiguration,online optimization and other demands.Through taking control strategy realized by graphical configuration method as research object,industry automation universal technology platform (IAP technology) was adopted to build a technological environment used for mobile robot’s control strategy configuration,which is based on graphical control configuration,visual computational process and component-based control algorithm.The algorithm principle and application method of several control configuration components are introduced in detail.And then,the enforcement mechanisms of relevant configuration components are verified through the design,development and test of mobile robot’s obstacle avoidance strategy.Several experimental results show that IAP platform technology can be applied in robot’s control field.Its graphical configuration components can largely reduce the complexity of developing robot’s control software and improve the capability of real-time monitoring of robot’s motion process.
Mobile robot Control configuration Componentization System architecture Obstacle avoidance control
ZHENG Song ZHANG Wang LIU Chaoru GUO Caimeng
Fuzhou University Advanced Control Technology Research Center, Fuzhou, 350108, China Fujian HISTRON Group Research Institute, Fuzhou, 350008, China
国际会议
the 25th Chinese Control and Decision Conference(第25届中国控制与决策会议)
贵阳
英文
2877-2883
2013-05-01（万方平台首次上网日期，不代表论文的发表时间）