A semi-generic system for the control of autonomous mobile mechatrons

The mechatronic devices constructed by the staff and students of the Department of Physics and Electronic Engineering at the University of Waikato have evolved in the last decade from small competition micromouse-type mechatrons, into larger, more versatile robots. These robots include an indoor mobile security device (MARVIN), a submersible remote operating vehicle (ROV), a multi-terrain caterpillar track mechatron, and a pair of tricycle configured devices to investigate robotic cooperation. These new mechatrons all possess a Pentium III equivalent computer-board, and as they are all being constructed at approximately the same time, the opportunity existed for the development of a generic control system. Exploiting existing knowledge and software at this university, the decision was made to equip each mechatron with a data acquisition card (DAQ), driven by a combined MATLAB/Lab VIEW software system. The paper reports the results of this approach.