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A Hybrid Control System Architecture for a Mobile Robot to Provide an Energy-Efficient and Fast Data Processing

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Artificial Life and Evolutionary Computation (WIVACE 2021)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1722))

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Abstract

The research is aimed to improve a controller for spherical mobile robots. The main issues of the existing controller are related to the computational capabilities of a low-power digital controller and the slow handling of sensor data. A survey of suitable contemporary technologies and approaches to spherical robot control was done. A hybrid analogue-digital architecture is considered the best way to control the robot. It is concluded, that exactly hybrid controller, which combines specialised analogue accelerators with multi-purpose digital controllers can be the most power-efficient, compact and fast architecture for bio-inspired robots.

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Acknowledgement

This work has been supported by the grant BRFFI-RFFI No. F18R-229.

Author information

Authors and Affiliations

  1. Laboratory of Robotic Systems, United Institute of Informatics Problems of National Academy of Sciences of Belarus, Minsk, Belarus

    Uladzislau Sychou & Ryhor Prakapovich

  2. Southern Scientific Centre of the Russian Academy of Sciences, SSC RAS, Rostov On Don, Russia

    Sergej Kapustjan

  3. Southern Federal University, Taganrog, Russia

    Vladimir Shabanov

Authors
  1. Uladzislau Sychou
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  2. Ryhor Prakapovich
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  3. Sergej Kapustjan
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  4. Vladimir Shabanov
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Corresponding author

Correspondence to Uladzislau Sychou .

Editor information

Editors and Affiliations

  1. Zurich University of Applied Sciences, Winterthur, Switzerland

    Johannes Josef Schneider

  2. School of Engineering, Cardiff University, Cardiff, UK

    Mathias Sebastian Weyland

  3. Zurich University of Applied Sciences, Winterthur, Switzerland

    Dandolo Flumini

  4. Zurich University of Applied Sciences, Winterthur, Switzerland

    Rudolf Marcel Füchslin

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Sychou, U., Prakapovich, R., Kapustjan, S., Shabanov, V. (2022). A Hybrid Control System Architecture for a Mobile Robot to Provide an Energy-Efficient and Fast Data Processing. In: Schneider, J.J., Weyland, M.S., Flumini, D., Füchslin, R.M. (eds) Artificial Life and Evolutionary Computation. WIVACE 2021. Communications in Computer and Information Science, vol 1722. Springer, Cham. https://doi.org/10.1007/978-3-031-23929-8_10

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  • DOI: https://doi.org/10.1007/978-3-031-23929-8_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-23928-1

  • Online ISBN: 978-3-031-23929-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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