Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440

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MODEL-BASED DESIGN OF TRACKED ROBOT CHASSIS CONTROL SYSTEM

Butusov D.N. 1 Krasilnikov A.V. 1 Raytsin S.B. 1 Mironchenko E.A. 2 Klunnikova Y.V. 3
1 Saint-Petersburg State Electrotechnical University
2 Federal State Budget Educational Institution of Higher Professional Education “Voronezh State University of Engineering Technologies” (394036
3 Southern Federal University
Model-based method of embedded control system design is considered by the example of the control system for tracked robot. Decomposition of the design object is described, as the structure of the control algorithms did in the form of virtual instruments (LabVIEW VI) and the choice of hardware controller for a control system. An algorithm of smooth tracked chassis turning is developed. A computer vision system, based on NI IMAQ module, is described, as the distant control system, operated through wireless LAN did. Conclusions about practical usage of developed design method is done, efficiency of the method is proved for the robotics design tasks. The comparative analysis of the model-design method and other available solutions included.