Distributed Frameworks in Control and Navigation of Small Underwater Vehicles (CROSBI ID 591696)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Nađ, Đula ; Lugarić, Tomislav ; Mišković, Nikola ; Vukić, Zoran
engleski
Distributed Frameworks in Control and Navigation of Small Underwater Vehicles
Distributed systems are pervasive in the process industry but less so in underwater robotics. Development of open-source frameworks, targeted at mobile systems, increases applicability of distributed techniques in vehicle control. Most often supervisory control is implemented in a distributed framework while low-level control is kept in the embedded system. This approach allows sharing of sensor data, logging and increased reconfigurability of high level controllers. Meantime, the embedded system offers precise timing and reliable behaviour. Alternatively, the low-level control can be moved into the distributed framework to allow easier reconfiguration and prototyping. In this paper we describe the architecture used for low-level control and analyze its performance in the MOOS and ROS distributed frameworks.
Mobile robots and vehicles ; Underwater robotics
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Podaci o prilogu
224-228.
2012.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 10th IFAC Symposium on Robot Control SYROCO2012
Petrovic, Ivan ; Korondi, Peter
Kidlington: Elsevier
978-3-902823-11-3
1474-6670
Podaci o skupu
10th IFAC Symposium on Robot Control (SYROCO2012)
predavanje
05.09.2012-07.09.2012
Dubrovnik, Hrvatska