Cyber-physical system prototype development for control of mobile robots group for general mission accomplishment

摘要

In this paper, design method and implementation of Cyber-Physical System (CPS) of mobile robots group control for general mission accomplishment are regarded. Picture segments are attached to each robot, thus mission accomplishment provides full picture assembling like a puzzle solving. Software and hardware for moving and positioning control in constrained rectangular region were implemented. Mathematical technique of set theory, control theory, digital image processing, discrete-event systems description methods and their integration with different Matlab and Simulink Toolboxes were utilized. Hardware implemented on the robotic mobile platform by LEGO. The presented hardware and software successfully utilized by teachers of National Research Tomsk Polytechnic University for laboratory works and seminars within such disciplines as Control Theory, System Modeling, Computer Vision Methods, etc. Obtained results fully or partially can be utilized for development of advanced algorithms and control methods for technical systems and processes as well as planning approaches and decision making for complex systems.