Title :
Control system design of the Wheel-Paddle-Leg Integration Amphibious Robot
Author :
Guo, Wei ; Yu, Yuanlin ; Yu, Jiancheng
Author_Institution :
State Key Lab. of Robot., CAS, Shenyang, China
Abstract :
The Wheel-Paddle-Leg Integration Amphibious Robot has unique drive equipments and multiple motion modes, meanwhile its operating environments are complex. To fulfill the requirements of its control performance, a distributed control system based on CAN (Control Area Network) is built and connected to the console by CAN bus and radio, constituting the whole control system of the amphibious robot. Furthermore a hybrid control architecture is proposed and described. The whole control system reveals a strong ability of adapting to dynamic environments, with a high control precision and flexibility. Finally, some proposals are put forward to enhance performance of the control system.
Keywords :
controller area networks; distributed control; mobile robots; motion control; CAN; control area network; control system design; distributed control system; hybrid control architecture; multiple motion modes; operating environments; wheel paddle leg integration amphibious robot; Artificial intelligence; Automation; Computational modeling; Computer architecture; Control systems; Mobile robots; CAN bus; amphibious robot; distributed control system; hybrid control architecture;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554300
