Software and control shell for service robots with parallel computing

摘要

KIAM Russian Academy of Sciences, International Laboratory «Sensorika» conduct research and development of service robots for tasks of telemedicine. The developed mobile robot AMUR-307 is planned to be used in clinics to move various objects between the premises of the building, separated by thresholds, stairs and doors. The robot is controlled remotely via a radio channel from the operator's post. It is also intended to minimize operator interference and apply the developed algorithms for autonomous operation using an on-board computing device. To control robots of this type, a software and hardware microprocessor system was designed and manufactured and its comprehensive testing was performed. The solution allows you quickly make changes to the customer's requirements and deliver robots, integrating them into the existing infrastructure. The article presents the results of research and comparison of various ways to implement the robot, optimize its structure, replication technology and parallel programming using the GPU.