Development of architecture and generalized modules structure for robotic complexes distributed control system for different applications

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Abstract
The autonomous robotic complexes allow solving a wide range of scientific, civil and military tasks. In order to work correctly, these complexes have to include a number of heterogeneous functional systems in its composition. The implementation of these systems requires a significant number of separate modules and devices that makes it relevant to develop new approaches to the organization of control systems that correspond to complexity of the object. This work is aimed at the development of distributed control systems for robotic complexes. This paper presents the architecture of the distributed and centralized control system, also the generalized modules structure for its realization. The proposed architecture consists of three levels and it can be used for autonomous robotic complexes and unmanned vehicles for different applications. The generalized structure of the modules allows developing typical circuit solutions for sensor and actuating modules of the system. The control system of the mobile autonomous robotic platform for general purposes was developed and realized based on the proposed architecture. In this robotic complex the CANbus is used as internal system communication bus, through that the data exchange is accomplished between modules of devices level and high-level controller. The devices level of the robotic platform includes fourteen modules, including the modules of the motor-wheels control, in the example of that the application of the proposed generalized structure was considered.