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

Результат исследований: Материалы для книги/типы отчетовМатериалы для конференции

2 Цитирования (Scopus)

Аннотация

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.

Язык оригиналаАнглийский
Название основной публикацииInternational Scientific and Practical Conference "Modeling in Education 2019"
РедакторыYury Borisovich Tsvetkov, Irina Konstantinovna Romanova
ИздательAmerican Institute of Physics Inc.
ISBN (электронное издание)9780735419469
DOI
СостояниеОпубликовано - 17 дек 2019
СобытиеInternational Scientific and Practical Conference on Modeling in Education 2019, MIE 2019 - Moscow, Российская Федерация
Продолжительность: 19 июн 201921 июн 2019

Серия публикаций

НазваниеAIP Conference Proceedings
Том2195
ISSN (печатное издание)0094-243X
ISSN (электронное издание)1551-7616

Конференция

КонференцияInternational Scientific and Practical Conference on Modeling in Education 2019, MIE 2019
СтранаРоссийская Федерация
ГородMoscow
Период19.6.1921.6.19

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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  • Цитировать

    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. В Y. B. Tsvetkov, & I. K. Romanova (Ред.), International Scientific and Practical Conference "Modeling in Education 2019" [020020] (AIP Conference Proceedings; Том 2195). American Institute of Physics Inc.. https://doi.org/10.1063/1.5140120