Abstract
Multi-layer cyber-physical control method for mobile robot safety systems
Highlights
Digitalization and robotization are a constant challenge for the industry to make production more effective, robust, and reliable
This paper focuses on a practical approach and implementation of a cyber-physical system on mobile robots and autonomous vehicles
The previously developed low-level control architecture of the cyber-physical system (CPS) of a self-driving last-mile bus called TalTech iseAuto and the mobile industrial robot BoxBot was analysed in more detail and compared
Summary
Digitalization and robotization are a constant challenge for the industry to make production more effective, robust, and reliable. The lower-level cyber-physical solution is a critical part of controlling modular mobile robots using modules that interact with the physical world. These modules are mainly divided into sensors, actuators, and computation units. The communication inside the mobile cyber-physical solutions is usually based on the CAN (Controller Area Network) and the Ethernet networks [8]. Logistics robots serve the production stations by supplying the raw material and bringing production results into the warehouse This kind of multi-robot environment requires an additional layer on top of the system, which controls the high-level goals and guides a single robot’s individual goal. The risks and their evaluation criteria are developed for a particular class of problems
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