PROBLEMS OF CHOOSING AN INTERMODULE INFORMATION INTERACTION PROTOCOL FOR MOBILE ROBOTS WITH MODULAR CONTROL SYSTEM ARCHITECTURE.

In the modern world, there is an increasing need to combine the results of the development of various engineers, vendors and research groups to quickly create and efficiently operate robotic systems (RTS) for various purposes. The creation of common ways of interaction between parts of the software and hardware of mechatronic devices and robotic systems (modules) is one of the important tasks facing robotics as a science and a field of technology. The article proposes a criterion for assessing the applicability of existing protocols for creating methods of intermodule communication in RTS with a modular control system architecture. The criterion includes 12 requirements, the presence or absence of which determines the degree of suitability for the implementation of intermodular information interaction in the modular structure of a robotic system. As a result of the analysis of existing systems, the main sources of problems of organizing such interaction are identified and the applicability of the protocol chosen based on this criterion for the multilevel hierarchical (pyramidal) network topology of the RTS control system is justified. The article proposes a new concept of a generalized method of intermodule interaction implemented in the form of a specification. [ABSTRACT FROM AUTHOR]