DEVELOPMENT OF MODULAR HIERARCHICAL CONTROL STRUCTURE FOR AN AUTONOMOUS MOBILE ROBOT
In this paper, a procedure of building the mobile robot platform is described. The main objective was to develop a system suitable for testing various velocity/position control and/or navigation algorithms without any major interventions on hardware or software structure. In order to achieve that goal, a modular hierarchical structure was developed. This type of structure has all the advantages of modular hardware and software architectures and is open for further upgrades. Another goal was to shorten the time between the idea generation and the implementation of the control algorithm itself. This was accomplished by making possible the generation and implementation of the algorithm in MATLAB environment. In this way, the system becomes more suitable for educational purposes.