RTU Research Information System
Latviešu English

Publikācija: The Design of Autonomous Mobile Unmanned Outdoor Research Robot

Publication Type Publications in RTU scientific journal
Funding for basic activity Unknown
Defending: ,
Publication language English (en)
Title in original language The Design of Autonomous Mobile Unmanned Outdoor Research Robot
Field of research 1. Natural sciences
Sub-field of research 1.2 Computer and information sciences
Authors Aldis Baums
Andris Gordjušins
Georgijs Kanonirs
Keywords robot, real time, activity phase, sensor, actuator, physical model.
Abstract The design methodology for autonomous mobile research robot is proposed. It includes four design stages. At the first stage, the cluster model of sensors and actuators is used to represent the structure of the robot, and the real-time analysis is performed at different periods of robot activity phases. To determine timeliness of the robot, two methods are used. With the help of the first method, the robot is determined as a hard real-time system, when all phases are defined as hard deadlines and executed sequentially. With the help of the second method, the robot is determined as a system having activities with hard and soft deadline execution times. Timeliness of the system is calculated using the time/utility function (TUF). At the second stage, hardware-software architecture is selected and estimated according to the real-time system analysis. At the third stage, the flexible robot physical model is developed and investigated. The fourth stage is devoted to the design of prototype.
Reference Baums, A., Gordjušins, A., Kanonirs, G. The Design of Autonomous Mobile Unmanned Outdoor Research Robot. Technologies of Computer Control. Vol.13, 2012, pp.63-67. ISSN 2255-9108. e-ISSN 2255-9116.
Full-text Full-text
ID 15280