Modularmobilerobot - conceptionanddesign
This paper presents basic provisions of the concept of creatingheterogeneous modular mobile robot and its functional units. The main approach is to create functionally accomplished modules like a drive module, control module, battery module and etc. Each moduleplays its own part in whole robotno matter what construction and control system implemented in this module. This paper describes three main modules: drive module, its construction and control system, battery module and module of network control. Control system of the drive module includes tactical control level and executive control level. Tactical control level is based on algorithm of planning sub-goals and splines for achieving main goal. Executive control level is based on system of control loops. This paper also describes functions of battery module and module of network control.