NETWORK-BASED DESIGN OF HETEROGENEOUS MODULAR MOBILE ROBOTIC SYSTEMS.

The present work deals with a new approach to the construction of hardware and software part of the heterogeneous modular mobile robots. The new approach is to use a network principle for constructing information-measuring and control system of modular mobile robot. The paper discusses a functional-modular principle of construction of a heterogeneous mobile robot. Our concept is based on the functional completeness of each module, which is an electronic and/or mechatronic device with its own control system. The inclusion of any mechatronic devices in the network structure information measurement and control system of the mobile robot is performed via special software-driver. [ABSTRACT FROM AUTHOR]