Control Program Design of Networked Distributed Mobile Robot Systems Using Discrete Event Net Based Inter-Task Synchronous Communication
Gen’ichi Yasuda · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2016
This paper deals with control system design problem for task execution of networked distributed robot systems. A generic distributed control architecture is presented to efficiently execute complex tasks based on discrete event systems. The control architecture is composed of a supervisor and a system controller and local controllers. The supervisor interprets the plan, oversees its execution and advices enabled commands to avoid system deadlocks based on global system status. The system controller executes a global system model and sends commands to local controllers, which executes direct local controls for robot sensors and effectors. Specific functional modules, such as obstacle detection and self-referencing, are provided to assist motion planning and execution, by detecting and reacting to asynchronous events. Multi-robot cooperation by the exchange of synchronization signals and implementation issues for network based remote control are further discussed based on the control scheme.