Multifunction System Of Mobile Robotics
.. TATUR
.. DADYKIN
Belarusian State University of Informatics and
Radioelectronics
BSUIR
Minsk, Belarus
[email protected]Belarusian National Technical University
BNTU
Minsk, Belarus
[email protected]M.M. Kurdi
Belarusian National Technical University
BNTU
Minsk, Belarus
[email protected]
Abstractadvertised an international project to create a
prototype multi-robotic system. The mobile robot used the
concept of multi-level management system, according to which
the majority of workload is on-board computer. This will reduce
the amount of data transmitted over a wireless link, and increase
the efficiency of the development of algorithms for higher-level
control. Distinctive features of the project are: the use of original
algorithms and firmware, which will develop, maintain and
adapt the product for different applications; the use of
mechanical components of series production, which will
accelerate the certification of the product and will reduce the cost
of the product as a whole.
KeywordsMobile robot; Multi-level management system; Onboard computer; Video processor.
I. INTRODUCTION
Mobile Robotic System is a machine that can move in
space and to perform certain functions due to its specialization.
Development and construction of mobile robotic systems are
developed in two directions: the first is based on the creation of
unique (mechanized) platform, the second - on the use of serial
chassis or product as a whole. Examples of robotic systems on
dedicated chassis are: multi-functional robots for security
services QinetiQ (UK) [1], a mobile robot for fire fighting
(Russia) [2]. Most automakers create their own robotic concept
car that can drive without a driver on the roads and even
"respect the" rules of the road. [3] Typically, such machines,
robots are created to test new technologies, and other extra
options which could be introduced into its production. For
example, in everyday life the machine has already entered the
automatic transmission, cruise control, direction, engine startstop, parking sensors, recognition of road signs, prevention of
head-on collision with an obstacle, etc., Which are integral
functions of the integrated management system of the mobile
robot. However, the domestic mobile robotic systems serial or
small batch production, available for mass use in agriculture,
utilities and / or law enforcement agencies, yet. This article is
ISBN: 978-1-4673-6941-1 2016 IEEE
announced international project to create a multifunctional
mobile robot based on the chassis serial domestic mini-tractors
and to introduce the concept of controlling such a robot.
II. ROBOTIC SYSTEMS BASED ON THE CHASSIS
SERIAL MINI-TRACTOR
The project was initiated in 2013 of LLC "Intelligent
Processors" (Minsk) and was included in the program of
innovative development of the Republic of Belarus. In 2014 the
project has joined the Eurasian National University (Astana),
supported Ministersva Education and Science of the Republic
of Kazakhstan. In 2015 the project has entered the organization
of Azerbaijan (LLC "Cyber" and AZNAN SRI).
Generated product is positioned as a multi-function robotic
system for use in environments that pose a risk to the health
and life of the driver and staff; For example, in emergency
situations - in the liquidation of the threat of explosion,
poisoning, fire-fighting; in agriculture - for spraying pesticides
and other fields. The specificity of target use of the robotic
system will be determined to install special attachments, and
appropriate software.
When designing and prototyping the authors sought to
emphasize the simplicity of design and reliability of the use of
the robotic system. Its feature is to maximize the use of
mechanical components of series production, which will
accelerate the certification of the product and reduce the cost of
the final product. As one of the variants of the mobile platform
used chassis tractors "Belarus-132N" with the petrol engine
(HONDA GX390). The power and traction, originally designed
for plowing the soil, it is sufficient to ensure that the movement
of the trolley up to 500 kg, or clearing blockages with regular
attachments. Articulated frame chassis tractors "Belarus-132N"
provides exceptional maneuverability of the robot with the
smallest turning radius - 2,5 meters, which can be a key factor
in the application of complex in a congested urban traffic
streets, in the woods, tunnels and even in large rooms. Weight
robotic system is about 400 kg with dimensions of
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120120180 cm3. Physical Specifications allow to transport
it in the cargo van with a medium wheelbase or a conventional
single-axle trailer. General view of the current prototype
robotic system with the original attachments designed for
firefighting, is shown in Fig.1.
The complex System, in addition to the serial chassis,
includes the following systems and components: a video
system for driving; mechatronic motion control system; onboard computer; telecommunication systems with a remote
control unit; staff attachments, such as blade; special
attachments, such as arm, master stream nozzle for fire
fighting. In contrast to the serial product, in robotic systems
has changed the basic direction of motion, ie, mobile robot
will move "backward-to-front." During this movement the
robotic system will be in a secure area, and will not interfere
with the video system and the special attachments.
III. CONCEPT OF MOBILE ROBOT CONTROL SYSTEM
In developing the concept of mobile robot is necessary to
solve a number of fundamental issues, including the following:
to define a strategy (basic methods) positioning and navigation
mobile robot; to introduce limitations and detail control modes,
particularly semiautomatic and / or automatic; to identify a list
of basic algorithms and to link management regimes;
implementation of algorithms for distributed computing
modules.
Fig.1. General view of the Belarus 132N Robotic System
period, for example, the start point of movement, as well as
visible landmarks. Thus, the elements of positioning and
navigation are:
a) Starting - from the center of the polar coordinate
system;
b) Movement is carried out in a straight line at a constant
speed to a predetermined point, which can be rotated, with an
indication of a reversal of the new guideline;
c) Calculated
movement calculate the points
coordinate from the origin of the movement, distance to the
landmark, the range to the range;
A. Positioning the mobile robot in the space
is to obtain information about its coordinates at the current
time with respect to a reference system. Positioning is
necessary for both the operator and the robot to generate
commands for further action. Positioning can be carried out as
in absolute coordinates (e.g. with reference to maps, including
digital maps GIS), or with respect to a given point in space (or
ground).
d) The current relative coordinates and other motion
parameters are displayed on the operator's monitor.
For more complex positioning and navigation options, we
should use (electronic compass, Global Positioning System,
tracking system angular-finder, external to the video system of
the robot, and others) for additional sources of information. As
the project progresses, the mobile robot will be equipped with
an optional global positioning systems and inertial navigation.
The navigation will be understood in the simplest case - the
choice of the direction of movement, and in more complex
cases - paving the route, the definition of the speed of passage
of separate sites, etc. The direction is a horizontal angle
measured in a clockwise from 0 to 360 degrees, between the
initial direction (usually the north or magnetic pole) and a
given line.
B. The terms of reference for the development of robotic
system were laid following driving modes:
For positioning and navigation of mobile robots typically
use the following sources of information in various
combinations: video; echolocation sensors; radar sensors;
various kinds of compasses; accelerometers; Global
Positioning System.
As advertised the project initially used a minimum grade
sources of information about the external environment, ie Only
video system to ensure the driving. It is a stereo pair of analog
cameras with fixed focal length that will algorithmically
calculate the approximate distance to objects located in the
central part of the field of view. Also, an additional camera,
placed on a turntable to the fire monitors. Obviously,
positioning may source information about a certain given
ISBN: 978-1-4673-6941-1 2016 IEEE
a) Remote control of the operator over the air at a
distance of 500 meters and a wired technology channel up to
10 meters;
b) Semi-autonomous control of navigation through the
on-board video.
Remote control of the operator is carried out by an external
PC (laptop) and the control panel. The laptop is designed
primarily to display video from cameras, information about
positioning and navigation, as well as official information from
sensors robotic system. To connect a wireless laptop data
reception and transmission Wi-Fi and a remote control, a
joystick is installed on a number of radio buttons to select the
modes of operation of the remote. The same remote control can
be connected directly to the mechatronic system through a
wired channel for technological processes; For example, for
debugging control algorithms lower level of the loading /
unloading robotic system and others.
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Fig.2. The general scheme of the system of controlling a mobile robot
Options for semi-autonomous control are closely related to
the methods and technical means of positioning and navigation:
for example, the operator specifies a reference point and selects
the mode of movement, including the speed and transmission
gear. For this project, the mobile robot has four types of motion
control.
a) Driving on a landmark that is outside the range of the
robot.
b) Movement (return with rotation) from a breakpoint at
the starting point of movement.
c) Blindly Movement (back
breakpoints to the starting point.
reversing)
from
the
d) Driving on the program and several benchmarks.
C. Control algorithms
are derived from the methods of positioning, navigation and
specific options / motion control modes, ie, the specification
functions. On the other hand, the structure and mathematical
algorithms developed will largely determine the hardware
platform on which is scheduled to be on their implementation,
including interfaces and telecommunications facilities.
For example, the present project identified three main
levels of computing modules: an external computer (laptop);
on-board computer; multi-channel controller actuators and in
addition, a remote control, which can be considered as an
additional layer (module). Each module was necessary to
define the specification of functions, commands to initialize
them, the service information data and inter-module interfaces.
When defining the specification of functions for each
module a number of technical conditions and design constraints
has been taken into consideration which is beyond the scope of
the present article. We note that the control system can not be
considered robotic systems since, the usual actions of the driver
ISBN: 978-1-4673-6941-1 2016 IEEE
of the tractor acts as a remote control by the operator. So, some
manipulation, such as clutch control, gas, brake, steer controls
will be carried lower and upper levels. As a result, a
comprehensive solution was formed and the following list of
functions has been implemented in the respective computing
modules.
a) Remote Control: The operator, via the console
produces the following commands: Preparing to start the
engine; Starting the engine ON; The choice of parameters of
driving: simple drive or four-wheel drive; The choice of the
direction of movement: forward / backward; Start movement;
Turn left / right; Stop; Stopping the engine; "Specifying a guide
and commands" Capture "; "The choice of a model variant and
semi-autonomous control command" Start ". This list may be
adjusted in accordance with the purpose of the complex and
attachments.
b) External Computer (Laptop) is designed to display:
video data from various cameras (selectively, with a fixed
stereo pairs, with the camera placed on the turntable); service
information (cursor / window to select the object capture,
confirmation signal capture range to the trapped object);
position information of the object and information about its
current navigation mode, selected movement, as well as for
broadcast command and data from the control board to the
computer through a wireless system to transmit and receive
data.
c) Microcomputer implements algorithmic blocks
navigation system and video processor. The video processor
performs: receiving data from a variety of cameras and
temporary storage; video compression with a specific channel
and delivery to an external computer; receiving a pointer to the
capture of an object, capturing instruction, the seizure of the
specified object to the issuance of the capture signal to an
external computer; determination of distance to an object with
the captured output to an external computer; escorting the
captured object. The navigation system provides: calculation of
the data positioning and navigation, and extradition to an
external computer; receiving commands from the remote
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control with the issuance of the controller mechatronics; type
storage management software movement, decoding commands
from the remote sensors and to initiate these programs.
d) Multi-channel controller actuators: This compute
module is a component of the mechatronic robotic system
which can be operated from both the command console and
commands generated by the navigation system. The number of
channels controller is determined by the number of actuators.
The main purpose of algorithms and programs of this module is
detailing commands top level and their implementation, taking
into account the specifics of the mechanical chassis of the
mobile robot. For example, a team of top-level "Starting the
engine" should check your installation of the transmission into
neutral, set the desired level of "pedal" gas, issue a command to
start the starter when receiving the signal from the sensor to
start, reduce gas, etc. For some top-level commands in the
microcontroller algorithms will be implemented. For example,
a team of top-level "Start movement" should "squeeze" the
clutch, set the transmission of the target shift, "release" grip
with the load on the chassis and add gas. Taking into account
the comments made, a simplified diagram of the control
system, a distributed computing for structural modules is
shown in Fig. 2.
The Specialty of the proposed control system is that the
algorithms and thus the control program are presented in two
levels. Upper level management is implemented by the
operator with remote control and / or on-board computer. The
lower level of programs is implemented to control a Multichannel Controller Actuators. The lower level is conservative,
ie, strictly tied to the structural features of the mechanical
chassis actuators and the to electronic part of the controller. At
the same time the upper level of the developer is available for
flexible use of copyright-making both conceptually and
ISBN: 978-1-4673-6941-1 2016 IEEE
technically. In general, this should reduce the time and cost of
developing new versions of robotic systems for different
groups of authors of the original application.
IV. CONCLUSION
In this paper, we have announced the project of creating
one of the first domestic mobile robotic systems designed for
mass production and industrial introduction. One of the main
functions of targets is to ensure the affordability of the product.
According to the results completed the cost of the mobile robot
is expected within 20-40 thousand euros, depending on
optional equipment and attachments. This is possible by
maximizing the use of domestically produced components
(both standard and custom), as well as applying the concept of
multilevel governance.
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