System design and control framework for an autonomous mobile robot application on predefined ferromagnetic surfaces

Date

2000-01-01

Author

Fettahlioglu, M
Ersak, Aydın

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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Maintenance tasks of ferromagnetic. surfaces present a suitable field for robotic applications. A system and controller software design satisfying the system requirements of an autonomous robotic system moving on a ferromagnetic surface accomplishing several tasks such as crack detection, welding, painting and emergency recovery actions is presented. The controller software developed here is a hierarchical control system based on the RCS Reference Model Architecture. The software shell and selected developed modules of the controller are presented.

URI

https://hdl.handle.net/11511/62426

Collections

Department of Electrical and Electronics Engineering, Article