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Thesis
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Sistem de comandă la distanţă pentru roboţi mobili
Negrescu, Constantin
2009-07-17
Abstract: Abstractul tezei Pe parcursul lucrării sunt analizate conceptele care stau la baza funcţionării unui robot mobil fiind studiate câteva componente aparţinând unor domenii aparent disjuncte, dar care îşi găsesc interferenţe şi adiacenţe concentrate în spaţiul mecatronicii: Scalabilitatea controlului la distanţă - un concept nou- stabileste o ierarhie în funcţie de nivelul de autonomie robotică a tipurilor de control robotic integrand controlul conventional bazat pe relatia master –slave cu cel neconventional bazat pe parteneriatul intre robot si operator. Sunt considerate functiile exercitate de cei doi component ai “echpei” , in raport cu nivelul decizional al operatorului. Achizitia informatiei alaturi de luarea deciziei si selectia actiunii au determinat asocierea dintre tipul de control robotic si nivele de autonomie a celor doua tipuri de taskuri executabile de un sistem. Scalabilitatea controlului a fost analizata si sub raportul calitatii interfetei operator-robot. Modele de fuziune senzorială şi aplicaţii parcurge cele mai cunoscute modele de fuziune si clasifica algoritmi specifici. Algoritmul FK al localizării bazat pe “suprapunerea hârtii” a fost modificat pentru eficienta.mai ridicata, si a fost introdus un algoritm general de edificare şi mentenanţă a hărţii globale, pentru cazurile de “nesuprapunere a hartii ” Arhitecturile pentru controlul roboţilor mobili sunt analizate din perspectiva celor trei paradigme robotice.Arhitectura reactiva subsumption si tehnica campurilor potentiale sunt remodelate sub forma dualităţii schemă perceptuală-schemă motorie specifice comportamentelor in doua studii de caz. A fost schtata o arhitectura hibrida bazata pe abilitati contextuale exemplificata cu doua aplicatii posibile. Arhitectura pentru reţele robotice mobile se refera la elaborarea unui cadru de cercetare care să suporte construirea unui. astfel de sistem prin identificarea câtorva principii de proiectare: managementul complexităţii, suportul de mentenanţă, metode generice de fuziune, stratul transparent al toleranţei la defecte şi cel al abstractizării senzorilor, proiectarea aplicaţiei de control Studiile de caz din final prezinta doua implementari arhitecturale: fieldbus-ul TTP ca suport pentru alegerea unei arhitecturi declansate de timp si o arhitectura declasata de evenimente Cuvinte cheie: scalabilitatea controlului robotic, comunicatia om-robot, roboti mobili, sistem de control la distanta , arhitectura declasata de timp. ABSTRACT This research provides an analysis of the basic concepts that underlie the functioning of mobile robots. Several elements are studied in-depth, which apparently belong to mutually exclusive fields. However, in the framework of a mechatronics approach, one notices interesting connections and interferences between them. The main ideas developed in our research are: The scalability of the remote control. This is a new concept which allows for a hierarchy to be established. This hierarchy is based on the level of autonomy of the types of robot control. We combine the conventional control, governed by a master-slave relationship, with an unconventional one, which consists in a partnership between the robot and the operator. We consider the functions involved by the two “members of the team” and relate them to the operator’s decision level. The acquisition of information, the decision making and the selection of the appropriate action determine the association between the type of the control and the level of autonomy of the two tasks that are executable by the system. Control scalability has been also analyzed with respect the the quality of the interface between the robot and the operator. Models of sensory fusion were considered extensively. The FK algorithm of localization based on the “template superposition” has been modified to achieve greater efficiency. A new algorithm was developed for the maintenance of the global map and for the cases of imperfect superposition. The architectures for mobile robots control are analyzed according to the three paradigms of robotics. Reactive subsumption architecture and potential field techniques were remodeled following the duality perceptual diagram / motor ability, which is specific to the behavior of the robots from the two case studies. A hybrid architecture was suggested, based on contextual abilities. This was tested in two possible applications. The architecture of robotic networks involves some essential design techniques. They include the management of complexity, the maintenance support, generic fusion methods, transparency of the fault tolerance layer, an abstract view of sensors, control application design. The case studies present two architectural implementations: the fieldbus TTP as support for timetriggered architecture and the event-triggered architecture. Keywords: robotic control scalability, human-robot communication, mobile robots, remote control system, time-triggered architecture
Keyword(s): Robotică -- Teză de doctorat ; Roboţi mobili -- Teză de doctorat ; Vehicule robotice -- Telecomandă -- Teză de doctorat
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Record created 2016-10-05, last modified 2016-10-05
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