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Research of local and global navigation methods for autonomous mobile robot with multiprocessor control system

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1 Author(s)
Szabo, S. ; Fac. of Mech. Eng., Brno Univ. of Technol., Czech Republic

Distributed control systems are mainly used for technological process control. Into practice were loaded fieldbuses-distributed systems, which are composed from several modules. These modules with specific intelligence must be able to process an analogue or discrete signals, control the actuators and send this information through the communication gate. Control process must be adapted to this control system conception. The local and global navigation methods should support the selected SW and HW configuration, too. This paper proposes the summary of local and global navigation methods. It deals with the possible implementation and change of several types of the methods. It compares methods for local and global navigation based on the different principles. The goal of this work is design the optimal navigation method for the experimental autonomous locomotion robot (ALR) VUTBOT-2 with the distributed controller area network (CAN) based control system.

Published in:

Industrial Technology, 2003 IEEE International Conference on  (Volume:1 )

Date of Conference:

10-12 Dec. 2003