Research On Reconfigurable Control System For Mobile Robot

This research work is supported by the key project of the National Natural Science Foundation of China under grant no. 60234030, Research on Theories and Methods of Navigation Control for Mobile Robots under Unknown Environments, and the project of the Science Foundation of Central South University under grant no. 1811-76176, Research on Theories and Technologies of Select Attentive Environment Cognition.As on part of these projects, the aim of this dissertation is to introduce a system design pattern for reconfigurable control system, which can improve the flexibility and robustness of complex control system, it also makes research work on navigation control for mobile robots much more convenience.Main contribution and work are described as follows:1. Based on the commonness of several reconfigurable control system applications, a simplified model of complex control system was presented, which is on the purpose of showing exactly driven factors of system reconfiguration and affording a basic framework for next research work on system design pattern.2. Presented a unified description methodology for heterogeneous information in multi-source information processing, and analyzed some attributes of homogeneous information processing. Based on these work, a reconfigurable information processing system was designed, which is driven by atomic information and in a form of heterogeneous multi-agent system. In an addition, a communication protocol with self diagnosis ability used in sensor network was also designed.3. Based on hierarchical intelligence control and agent cooperation, the reconfiguration strategy of distributed control system was discussed, and presented a multi-layered reconfiguration design methodology, which combined reconfigurable control law with heterogeneous multi-agent system theory. As path planning takes an important place in navigation system, dynamic environment model and parallel path planning were presented, that were considered as a special application of the design methodology.4. A basic reconfigurable control system for the mobile robot named MORCS-I on purpose of navigation control was designed. And based on this work, a lot of application work was expanded, such as fault diagnosis and path planning. As these applications showed good flexibility, robustness and simple in system structure, the design pattern introduced for reconfigurable control system was qualified, it also can be used in the most of complex control systems.