The effects of the swarm configuration and the obstacles placement on control signals transmission delays in decentralized ROS-embedded group of mobile robots

Siwek, Michał; Besseghieur, Khadir; Baranowski, Leszek

doi:10.1063/1.5066531

Cited by 4 publications

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“…AGV robots are a good solution for plants that are characterized by low variability of the production process and not very large distances between logistic destinations. In the case of frequent changes in the production process, dynamically changing environment in the plant (e.g., moving workers) [ 7 ], disturbances [ 8 , 9 ] and obstacles [ 10 ], a safe and flexible control system is required to allow for environmental changes [ 11 , 12 , 13 ] or reprogramming of the carts for other tasks. Searching for the most appropriate path planning algorithm according to user requirements can be challenging given the large number of examples existing in the literature [ 14 , 15 , 16 , 17 , 18 , 19 ].…”

Section: Related Workmentioning

confidence: 99%

Identification of Differential Drive Robot Dynamic Model Parameters

et al. 2023

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The paper presents the identification process of the mathematical model parameters of a differential-drive two-wheeled mobile robot. The values of the unknown parameters of the dynamics model were determined by carrying out their identification offline with the Levenberg-Marguardt method and identification online with the Recursive least-squares method. The authors compared the parameters identified by offline and online methods and proposed to support the recursive least squares method with the results obtained by offline identification. The correctness of the identification process of the robot dynamics model parameters, and the operation of the control system was verified by comparing the desired trajectories and those obtained through simulation studies and laboratory tests. Then an analysis of errors defined as the difference between the values of reference position, orientation and velocity, and those obtained from simulations and laboratory tests was carried out. On itd basis, the quality of regulation in the proposed algorithm was determined.

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Section: Related Workmentioning

confidence: 99%

Identification of Differential Drive Robot Dynamic Model Parameters

et al. 2023

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“…На сервисных роботах отработаны как централизованные, так и децентрализованные методы группового управления [89][90][91][92][93]. Существуют готовые решения с открытым кодом для их реализации на базе наиболее крупных программных платформ, таких как ROS и ArduPilot [85,94].…”

Section: интеллектуальное и групповое управление в сервисной робототехникеunclassified

A review on control systems hardware and software for robots of various scale and purpose. Part 2. Service robotics

Romanov

2020

Rossijskij tehnologičeskij žurnal

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A review of robotic systems was carried out. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, the achievement of fault tolerance, and the reduction of the weight and size of control system elements belonging to various classes of robotic systems were carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to service robotics. The following conclusions are made on the basis of the review results: the key technology in service robotics from the point of view of scalability is the Robot Operating System (ROS); service robotics is today the main springboard for testing intelligent algorithms for the tactical and strategic control levels that are integrated into a common system based on ROS; the problem of ensuring fault tolerance in the service robotics is practically neglected, with the exception of the issue of increasing reliability by changing behavioral algorithms; in a number of areas of service robotics, in which the reduction of mass and dimensions is especially important, the robot control systems are implemented on a single computing device, in other cases a multi-level architecture implemented on Linux-based embedded computers with ROS are used.

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