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

fYear

2010

Firstpage

6428

Lastpage

6432

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5554300

Filename

5554300