INTELLIGENT ADVANCED CONTROL STRATEGIES FOR MOBILE AUTONOMOUS ROBOTS STABILITY THROUGH VERSATILE, INTELLIGENT, PORTABLE VIPRO PLATFORM

Abstract

The paper presents new concepts through approaches of applied solid mechanics in mobile autonomous robots stability for adapting the robot movements to unstructured rough terrain, which allows action to be taken in crisis situations or natural disasters where human lives may be at stake. The control system architecture for intelligent advanced control of the mobile autonomous robots is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The remote control and e-learning software with the possibility of access throughout the internet as a web application within an international academic network is developed. The results obtained through simulation and experiments through VIPRO platform lead to higher performance, stability, reliability, robustness and efficiency in approaching the predictable of the mobile autonomous robots motion and in the development of new technological capabilities of the physical systems with applications in the field of robotics.