System design and control framework for an autonomous mobile robot application on predefined ferromagnetic surfaces


Fettahlioglu M., Ersak A.

INTELLIGENT PROBLEM SOLVING: METHODOLOGIES AND APPROACHES, PRODEEDINGS, vol.1821, pp.705-710, 2000 (Journal Indexed in SCI) identifier

  • Publication Type: Article / Article
  • Volume: 1821
  • Publication Date: 2000
  • Title of Journal : INTELLIGENT PROBLEM SOLVING: METHODOLOGIES AND APPROACHES, PRODEEDINGS
  • Page Numbers: pp.705-710

Abstract

Maintenance tasks of ferromagnetic. surfaces present a suitable field for robotic applications. A system and controller software design satisfying the system requirements of an autonomous robotic system moving on a ferromagnetic surface accomplishing several tasks such as crack detection, welding, painting and emergency recovery actions is presented. The controller software developed here is a hierarchical control system based on the RCS Reference Model Architecture. The software shell and selected developed modules of the controller are presented.