Cyber-physical system prototype development for control of mobile robots group for general mission accomplishment

A. S. Fadeev, A. Y. Zarnitsyn, A. V. Tsavnin, A. S. Belyaev

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, design method and implementation of Cyber-Physical System (CPS) of mobile robots group control for general mission accomplishment are regarded. Picture segments are attached to each robot, thus mission accomplishment provides full picture assembling like a puzzle solving. Software and hardware for moving and positioning control in constrained rectangular region were implemented. Mathematical technique of set theory, control theory, digital image processing, discrete-event systems description methods and their integration with different Matlab and Simulink Toolboxes were utilized. Hardware implemented on the robotic mobile platform by LEGO. The presented hardware and software successfully utilized by teachers of National Research Tomsk Polytechnic University for laboratory works and seminars within such disciplines as Control Theory, System Modeling, Computer Vision Methods, etc. Obtained results fully or partially can be utilized for development of advanced algorithms and control methods for technical systems and processes as well as planning approaches and decision making for complex systems.

Original languageEnglish
Title of host publicationInternational Scientific and Practical Conference "Modeling in Education 2019"
EditorsYury Borisovich Tsvetkov, Irina Konstantinovna Romanova
PublisherAmerican Institute of Physics Inc.
ISBN (Electronic)9780735419469
DOIs
Publication statusPublished - 17 Dec 2019
EventInternational Scientific and Practical Conference on Modeling in Education 2019, MIE 2019 - Moscow, Russian Federation
Duration: 19 Jun 201921 Jun 2019

Publication series

NameAIP Conference Proceedings
Volume2195
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

ConferenceInternational Scientific and Practical Conference on Modeling in Education 2019, MIE 2019
CountryRussian Federation
CityMoscow
Period19.6.1921.6.19

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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    Fadeev, A. S., Zarnitsyn, A. Y., Tsavnin, A. V., & Belyaev, A. S. (2019). Cyber-physical system prototype development for control of mobile robots group for general mission accomplishment. In Y. B. Tsvetkov, & I. K. Romanova (Eds.), International Scientific and Practical Conference "Modeling in Education 2019" [020020] (AIP Conference Proceedings; Vol. 2195). American Institute of Physics Inc.. https://doi.org/10.1063/1.5140120