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

  • Authors:

  • Mahmut Fettahlioglu;Aydin Ersak

  • Affiliations:

  • -;-

  • Venue:
  • IEA/AIE '00 Proceedings of the 13th international conference on Industrial and engineering applications of artificial intelligence and expert systems: Intelligent problem solving: methodologies and approaches
  • Year:
  • 2000

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Abstract

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.