Formulation of the optimization problem of the cyber-physical diagnosis system configuration level for construction mobile robots

A. Bulgakov, T. Kruglova, T. Bock

Research output: Contribution to conferencePaperpeer-review

5 Scopus citations

Abstract

This article studies the development of a cyber-physical prediction diagnosis system for electric drives of the construction robots. The structure of the five level diagnosis cyber-physical system is described. The optimization problem with the configuration level of the cyber-physical diagnostic system is formulated.The problem of determining the optimal trajectory for a mobile construction robot taking into account the wear of its electric drives is presented. As an example, a construction four wheels mobile robot with a differential drive is considered. The task of the robot is the alignment of the construction site, which involves its sequential bypass. From the standpoint of wheels drives wear, the trajectory is considered optimal if the robot makes approximately equal number of right and left side turns. To design a mathematical model for optimal trajectory determination, graph theory and probabilistic algorithms is proposed. The presented model does not take into account the soil structure and the working space inclination.

Original languageEnglish
Pages704-708
Number of pages5
StatePublished - 2019
Externally publishedYes
Event36th International Symposium on Automation and Robotics in Construction, ISARC 2019 - Banff, Canada
Duration: 21 May 201924 May 2019

Conference

Conference36th International Symposium on Automation and Robotics in Construction, ISARC 2019
Country/TerritoryCanada
CityBanff
Period21/05/1924/05/19

Keywords

  • Building robots
  • Cyber-physical diagnosis system
  • Electric drives
  • Optimal trajectory
  • Wear

Fingerprint

Dive into the research topics of 'Formulation of the optimization problem of the cyber-physical diagnosis system configuration level for construction mobile robots'. Together they form a unique fingerprint.

Cite this