ModRob: the Hardware-Software Framework for Modular Mobile Robots Prototyping

Abstract

In this paper we consider the hardware-software framework for solving problems associated with the integration of various robotic components into a single robotic system. As the complexity of navigation algorithms for mobile robots is constantly increasing, new approaches to the design of their control systems based on their modular architecture are required. The purpose of this work is to present the modular architecture of reconfigurable mobile robots as a hierarchical structure of control signal handlers. In this architecture a mobile robot is considered as a combination of modules, which in turn consist of simpler unitssubmodules. Each submodule includes a low-power microcontroller or an single-board computer and is responsible only for basic functions. A full-featured module is formed from a set of such submodules: a transport platform, a robot arm, a leg and so on. The article describes the manufactured prototypes of the submodules, briefly discusses the custom protocol of intermodular interaction of submodules connected by a CAN bus. The results of experiments on testing the protocol for providing real-time mode are presented and their analysis is given. The efficiency of the proposed solution, limitations and a short plan of further actions for the implementation of the project are shown.