Modeling of the Control Algorithms in Case of a Self Reconfiguring Mobile Robotic System

Mihai George Raducu; Mircea Nitulescu

doi:10.4028/www.scientific.net/SSP.166-167.339

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HomeSolid State PhenomenaSolid State Phenomena Vols. 166-167Modeling of the Control Algorithms in Case of a...

Modeling of the Control Algorithms in Case of a Self Reconfiguring Mobile Robotic System

Abstract:

Self reconfiguring robots are complex robotic systems composed of a finite number of modules, where each module of the system is considered to be a simple agent. Based on this con¬text, the reconfi¬guration represents the process of re-arranging each agent of the robotic system in order to have a working system. One versatile method to determine the most adequate movement and reconfiguration algorithms can be done us¬ing modeling methods and tools. Using this approach, the control algorithms necessary to drive such a system can be modeled, tested and implemented in an embedded system much easier than in a classical approach. This paper presents the case of a self reconfiguring robot for which, a reconfiguration algorithm and a movement algorithm were determined, analyzed, tested and validated.

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Periodical:

Solid State Phenomena (Volumes 166-167)

Pages:

339-344

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.166-167.339

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Online since:

September 2010

Authors:

Mihai George Raducu, Mircea Nitulescu

Keywords:

Control Algorithms, Modeling, Self Reconfiguring Mobile Robot, Simulation

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