TY - GEN
T1 - Cyber-physical system prototype development for control of mobile robots group for general mission accomplishment
AU - Fadeev, A. S.
AU - Zarnitsyn, A. Y.
AU - Tsavnin, A. V.
AU - Belyaev, A. S.
PY - 2019/12/17
Y1 - 2019/12/17
N2 - 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.
AB - 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.
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U2 - 10.1063/1.5140120
DO - 10.1063/1.5140120
M3 - Conference contribution
AN - SCOPUS:85077884334
T3 - AIP Conference Proceedings
BT - International Scientific and Practical Conference "Modeling in Education 2019"
A2 - Tsvetkov, Yury Borisovich
A2 - Romanova, Irina Konstantinovna
PB - American Institute of Physics Inc.
T2 - International Scientific and Practical Conference on Modeling in Education 2019, MIE 2019
Y2 - 19 June 2019 through 21 June 2019
ER -