Options
2009
Conference Paper
Titel
Architectural approach for the implementation of a position control system for a boat-like inspection robot
Abstract
Here we present the position control system of a swimming inspection robot for large underground concrete pipes that are partially filled with wastewater. The system's hardware consists of a laser-based measurement system for position determination and a mechanical rudder to move the robot laterally within the pipe. To automatically adapt the position control system to different environment conditions, a self-tuning controller is presented. We show how the necessary software components were implemented as part of a non real-time CORBA-based [1] distributed system. The controller has hybrid requirements regarding latency and interarrival times of computed position values. We describe the supporting data-flow architecture and the fault tolerance mechanism. This control application integrates real-time and non real-time components.